diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index 4dc8d18d1c..b732e9cf78 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -1,7 +1,8 @@
 syntax = "proto3";
 package mogo.telematics.pad;
 
-enum ProtocolVersion{
+enum ProtocolVersion
+{
     Defaultver = 0;
     CurrentVersion = 7; //每次修改proto文件增加1
 }
@@ -48,6 +49,7 @@ enum MessageType
     MsgTypeRecordDataConfigResp = 0x10115; //数据采集配置查询应答
     MsgTypeOperatorCmdReq = 0x10116; //操控指令
     MsgTypeSubscribeDataReq = 0x10117; //数据订阅、取消订阅请求
+    MsgTypeSpecialVehicleTaskCmd = 0x10118; //特种车辆命令
 }
 
 message Header
@@ -79,6 +81,18 @@ message Trajectory
 }
 
 // message definition for MsgTypeTrackedObjects
+message SubSource
+{
+    uint32 source = 1; //[default = 0] v2v_bsm = 1 v2i_rsm = 2 v2v_ssm = 3 v2n_rsm = 4
+    string id = 2; //HEX_string
+}
+
+message TrackedSource
+{
+    uint32 source = 1; //lidar:1 camera:2 radar:3 v2x:4 vidar:5 falcon:6
+    repeated SubSource sub_source = 2;
+}
+
 message TrackedObject
 {
     uint32 type = 1; //物体类型, 0:Background, 1:Person, 2:Bicycle, 3:Car, 4:MotorCycle, 
@@ -96,6 +110,7 @@ message TrackedObject
     double speed = 11; //车辆速度
     uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
     double driverTime = 13; //驱动感知时间, abandoned
+    repeated TrackedSource tracked_source = 14;
 }
 
 message TrackedObjects
@@ -205,7 +220,8 @@ message Location
     double heading = 4;
 }
 
-message RouteInfo{
+message RouteInfo
+{
     Location startLocation = 1;  
     string startName = 2;
     Location endLocation = 3;
@@ -339,7 +355,8 @@ message ArrivalNotification
 }
 
 // message definition for MsgTypeSystemCmdReq
-enum SystemCmdType {
+enum SystemCmdType
+{
     SYSTEMCMD_NONE = 0;
     SYSTEMCMD_REBOOT = 1;
 }
@@ -390,7 +407,8 @@ message SubscribeDataReq
 }
 
 // message definition for MsgTypeOperatorCmdReq
-enum OperatorCmdType {
+enum OperatorCmdType
+{
     OPERATOR_CMD_NONE = 0;
     OPERATOR_CMD_CHANGE_LANE = 1;
     OPERATOR_CMD_SET_ACCELERATED_SPEED = 2;
@@ -406,7 +424,8 @@ message OperatorCmdReq
 }
 
 //message definition for MsgTypePlanningDecisionState
-enum DrivingState{
+enum DrivingState
+{
     NO_AUTODRIVING = 0; //不在自动驾驶状态
     LANKE_KEEP = 1; //车道保持状态
     TRAFFIC_LIGHT = 2; //红绿灯通行状态： driving_action：1 表示停止动作；driving_action:2 表示通行动作
@@ -421,7 +440,8 @@ enum DrivingState{
     UN_PROTECTED_INTERSECTION = 11; //路口预测响应状态： driving_action：1 表示触发了预测响应；
 }
 
-enum DrivingAction{
+enum DrivingAction
+{
     DRIVING_Action_STATE_NONE = 0;
     DRIVING_ACTION_STATE_ONE = 1;
     DRIVING_ACTION_STATE_TWO = 2;
@@ -440,3 +460,7 @@ message PlanningActionMsg
     DrivingActionMsg action_msg = 1;
     double destination_acc = 2; //驾驶的意图（规划期望的加速或者减速值)
 }
+
+//message definition for MsgTypeSpecialVehicleTaskCmd
+//refer to special_vehicle_task_cmd.proto for details
+
diff --git a/libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto b/libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
index 13d2e15b8d..cf21808530 100644
--- a/libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
+++ b/libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
@@ -4,14 +4,14 @@ package rule_segement;
 import "header.proto";
 
 message MogoPointCloud
-{
-    optional common.Header header = 1;
+{ 
+    optional common.Header header = 1; 
     optional double self_longitude = 2;
     optional double self_latitude = 3;
     optional double self_altitude = 4;
     optional double self_roll = 5;
     optional double self_pitch = 6;
     optional double self_yaw = 7;
-    repeated int32 add_data = 8 [packed=true];
-    optional double newgpstimestamp = 9;
-}
\ No newline at end of file
+    repeated uint32 del_data = 8 [packed=true];
+    repeated double add_data = 9 [packed=true];
+}
diff --git a/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto b/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
new file mode 100644
index 0000000000..69a2d6fc3d
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/special_vehicle_task_cmd.proto
@@ -0,0 +1,27 @@
+syntax = "proto2";
+package chassis;
+
+message RoboSweeperFuTianCleanCmd {
+    optional uint32 clean_open_requirement = 1 [default = 0]; //  清扫作业开启需求 0--no req 1--Req_clean_work, 2--No_clean_work
+    optional uint32 clean_mode_requirement = 2 [default = 0]; //  清扫作业模式需求 0--no req, 1--Sweeping mode, 2--Wash sweeper mode, 3--Pure wash mode, 4--Pure draw mode
+    optional uint32 clean_direction_requirement = 3 [default = 0]; //  清扫方向需求指 0--no req, 1--both side work, 2--left side work, 3--right side work
+    optional uint32 clean_intensity_requirement = 4 [default = 0]; //  作业强度需求 0--no req, 1--stand clean work, 2--strong clean work
+    optional uint32 dusk_close_requirement = 5 [default = 0];  //  降尘关闭需求 0--no req, 1--close dusk, 2--open dusk
+    optional uint32 suction_nozzlefle_open_requirement = 6 [default = 0]; //  吸嘴挡板需求 0--no req, 1--open, 2--close
+    optional uint32 spray_gun_open_requirement = 7 [default = 0];  // 喷雾枪需求 0--no req, 1--open, 2--close
+    optional uint32 sweepdisk_speed_requirement = 8 [default = 0]; // 扫盘加速需求 0--no req, 1--decelerate req, 2--accelerate req（扫盘加速需求，每点一次为加速一次，每次加速为5%pwm）
+}
+
+message RoboSweeperFuTianTaskCmd {
+    optional RoboSweeperFuTianCleanCmd  robo_sweeper_futian_clean_cmd = 1; // 福田清扫车清扫作业指令
+
+}
+
+message RoboVanSkywellTaskCmd {
+
+}
+
+message SpecialVehicleTaskCmd {
+    optional RoboSweeperFuTianTaskCmd robo_sweeper_futian_task_cmd = 1; // 福田清扫车业务指令
+    optional RoboVanSkywellTaskCmd robo_van_skywell_task_cmd = 2; // 开沃小巴业务指令
+}