diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
index 246c7cff39..47e8d6b770 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -62,5 +62,10 @@ interface IMoGoAutopilotStatusListener {
          * 自动驾驶中，可能是停车，可能是行进，但是是机器在处理车的前进后退，不是人
          */
         const val STATUS_AUTOPILOT_RUNNING = 2
+
+        /**
+         * 平行驾驶
+         */
+        const val STATUS_PARALLEL_DRIVING = 3
     }
 }
\ No newline at end of file
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
index 7f8ba35e31..196ababf63 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MogoReport.java
@@ -221,13 +221,17 @@ public class MogoReport {
              */
             interface ESYS {
                 String AUTOPILOT_FAILED = "ESYS_AUTOPILOT_FAILED";//在尝试启动自动驾驶，但是超过指定时间后底盘未进入，会发送此事件
+                @Deprecated
                 String IN_INIT = "ESYS_IN_INIT";//系统处于启动中，拒绝进入自动驾驶/远程驾驶
                 String IN_EXIT = "ESYS_IN_EXIT";//系统处于退出中，拒绝进入自动驾驶/远程驾驶
                 String NOT_ALLOW_AUTOPILOT_FOR_REMOTE = "ESYS_NOT_ALLOW_AUTOPILOT_FOR_REMOTE";//系统处于远程驾驶中，拒绝进入自动驾驶
                 String NOT_ALLOW_REBOOT = "ESYS_NOT_ALLOW_REBOOT";//重启拒绝
                 String TOPIC_FREQ_DROPED = "ESYS_TOPIC_FREQ_DROPED";//存在topic严重掉频
+                @Deprecated
+                String RTK_STATUS_FAULT = "ESYS_RTK_STATUS_FAULT";//RTK状态持续错误
                 String AUTOPILOT_TAKEN_OVER_BY_REMOTE = "ESYS_AUTOPILOT_TAKEN_OVER_BY_REMOTE";//自动驾驶被远程驾驶接管
                 String ROUTING_REQ_TIMEOUT = "ESYS_ROUTING_REQ_TIMEOUT";//自动驾驶开始前，routing请求无响应
+                String PLANNING_CHANGE_FAILIED = "ESYS_PLANNING_CHANGE_FAILIED";//planning版本切换启动失败
                 String FAULT = "ESYS_FAULT";//master启动10分钟，仍有agent未连接
             }
 
@@ -276,6 +280,7 @@ public class MogoReport {
                 String DATA_EXIST = "IMAP_DATA_EXIST";//加载正确的sqlite
                 String TRA_LOADED = "IMAP_TRA_LOADED";//轨迹文件加载成功
                 String TRA_ROUTING = "IMAP_TRA_ROUTING";//算路成功
+                String TRA_TYPE = "IMAP_TRA_TYPE";//加载轨迹类型通知
 
             }
 
@@ -283,6 +288,7 @@ public class MogoReport {
              * telematics节点信息
              */
             interface ITELEMATICS {
+                @Deprecated
                 String ROUTING_REQUEST_SENT = "ITELEMATICS_ROUTING_REQUEST_SENT";//已发送算路请求
                 String AUTOPILOT_CMD_FORWARDED = "ITELEMATICS_AUTOPILOT_CMD_FORWARDED";//自动驾驶命令已转发
                 String AICLOUD_AUTH_OK = "ITELEMATICS_AICLOUD_AUTH_OK";//aicloud连接认证成功
@@ -300,6 +306,8 @@ public class MogoReport {
                 String AUTOPILOT_STARTING = "ISYS_AUTOPILOT_STARTING";//自动驾驶启动中
                 String AUTOPILOT_RUNING = "ISYS_AUTOPILOT_RUNING";//自动驾驶运行中
                 String TOPIC_FREQ_NORMAL = "ISYS_TOPIC_FREQ_NORMAL";//topic频率正常或者恢复正常
+                @Deprecated
+                String RTK_STATUS_NORMAL = "ISYS_RTK_STATUS_NORMAL";//rtk状态正常或恢复正常
                 String CAN_NORMAL = "ISYS_CAN_NORMAL";//底盘状态正常或恢复正常
                 String REOMTEPILOT_STARTING = "ISYS_REOMTEPILOT_STARTING";//平行驾驶启动中
                 String REOMTEPILOT_RUNING = "ISYS_REOMTEPILOT_RUNING";//平行驾驶运行中
@@ -308,6 +316,9 @@ public class MogoReport {
                 String INIT_TRAJECTORY_FAILURE = "ISYS_INIT_TRAJECTORY_FAILURE";//轨迹管理_轨迹下载失败，本地无对应轨迹
                 String INIT_TRAJECTORY_WARNING = "ISYS_INIT_TRAJECTORY_WARNING";//轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
                 String INIT_TRAJECTORY_TIMEOUT = "ISYS_INIT_TRAJECTORY_TIMEOUT";//轨迹管理_轨迹下载超时
+                String SYSTEM_IN_IDLE = "ISYS_SYSTEM_IN_IDLE";//系统进入空闲状态
+                String SYSTEM_OUT_IDLE = "ISYS_SYSTEM_OUT_IDLE";//系统退出空闲状态
+                String CONFIG_UPDATE_HADMAP = "ISYS_CONFIG_UPDATE_HADMAP";//高精地图：需要重启升级高精地图
             }
 
             interface IAGENT {