diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index c04b1ac032..b1be98a2d6 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -83,7 +83,7 @@ import mogo.v2x.MogoV2X
 import mogo.v2x.RoadOverviewEvents
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
-import perception.TrafficLightOuterClass
+import perception.FusionTrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
 import prediction.Prediction
 import record_cache.RecordPanelOuterClass
@@ -330,10 +330,10 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
-    //感知红绿灯
+    //融合感知红绿灯
     override fun onPerceptionTrafficLight(
         header: MessagePad.Header?,
-        trafficLights: TrafficLightOuterClass.TrafficLights?
+        trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?
     ) {
         if (trafficLights != null) {
             CallerAutopilotIdentifyListenerManager.invokeAutopilotPerceptionTrafficLight(
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
index a30f8293b6..78a782c962 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -28,8 +28,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.service.chain.ChainLog
-import perception.TrafficLightOuterClass
-import perception.TrafficLightOuterClass.TrafficLight
+import perception.FusionTrafficLightOuterClass
 
 fun TrafficLightStatus.convert(): TrafficLightEnum {
     return when {
@@ -40,12 +39,12 @@ fun TrafficLightStatus.convert(): TrafficLightEnum {
     }
 }
 
-fun TrafficLight.convert(): TrafficLightEnum {
+fun FusionTrafficLightOuterClass.FusionTrafficLight.convert(): TrafficLightEnum {
     return when (this.state) {
-        TrafficLightOuterClass.LightState.STATE_GREEN -> TrafficLightEnum.GREEN
-        TrafficLightOuterClass.LightState.STATE_YELLOW -> TrafficLightEnum.YELLOW
-        TrafficLightOuterClass.LightState.STATE_RED -> TrafficLightEnum.RED
-        TrafficLightOuterClass.LightState.STATE_OFF -> TrafficLightEnum.BLACK
+        FusionTrafficLightOuterClass.FusionLightState.STATE_GREEN_FUSION -> TrafficLightEnum.GREEN
+        FusionTrafficLightOuterClass.FusionLightState.STATE_YELLOW_FUSION -> TrafficLightEnum.YELLOW
+        FusionTrafficLightOuterClass.FusionLightState.STATE_RED_FUSION -> TrafficLightEnum.RED
+        FusionTrafficLightOuterClass.FusionLightState.STATE_OFF_FUSION -> TrafficLightEnum.BLACK
         else -> TrafficLightEnum.BLACK
     }
 }
@@ -96,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
      * 工控机感知红绿灯
      * @param trafficLights 感知红绿灯
      */
-    override fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+    override fun onAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) {
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "onAutopilotPerceptionTrafficLight ---- hasObuLightStatus = $hasObuLightStatus ----hasAiLightStatus = $hasAiLightStatus , trafficLights : ${trafficLights?:"null"}"
@@ -104,7 +103,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         if (!hasObuLightStatus) {
             if (!hasAiLightStatus) {
                 trafficLights?.let {
-                    var light: TrafficLight? = null
+                    var light: FusionTrafficLightOuterClass.FusionTrafficLight? = null
                     if (it.hasStraight()) {
                         light = it.straight
                     } else if (it.hasLeft()) {
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
index 7e27ffcac1..40c67dccdb 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
@@ -2,7 +2,7 @@ package com.mogo.eagle.core.function.api.autopilot
 
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.*
-import perception.TrafficLightOuterClass
+import perception.FusionTrafficLightOuterClass
 
 /**
  * @author xiaoyuzhou
@@ -24,10 +24,10 @@ interface IMoGoAutopilotIdentifyListener {
     fun onAutopilotIdentifyPlanningObj(planningObjects: List<MessagePad.PlanningObject>?){}
 
     /**
-     * 感知红绿灯
+     * 融合感知红绿灯
      * @param trafficLights 感知红绿灯
      */
-    fun onAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){}
+    fun onAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?){}
 
 
     /**
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
index 019a7e1e6e..de60c84683 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
@@ -4,7 +4,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.*
-import perception.TrafficLightOuterClass
+import perception.FusionTrafficLightOuterClass
 
 /**
  * 域控制器感知数据
@@ -36,10 +36,10 @@ object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentif
     }
 
     /**
-     * 感知红绿灯
+     * 融合感知红绿灯
      */
     @Synchronized
-    fun invokeAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?) {
+    fun invokeAutopilotPerceptionTrafficLight(trafficLights: FusionTrafficLightOuterClass.FusionTrafficLights?) {
         M_LISTENERS.forEach {
             val listener = it.value
             listener.onAutopilotPerceptionTrafficLight(trafficLights)
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
index 623bb4d14d..04f98f7de6 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
@@ -20,7 +20,7 @@ public enum MessageType {
     TYPE_RECEIVE_VEHICLE_STATE(MessagePad.MessageType.MsgTypeVehicleState, "老底盘状态"),
     TYPE_RECEIVE_AUTOPILOT_STATE(MessagePad.MessageType.MsgTypeAutopilotState, "自动驾驶状态"),
     TYPE_RECEIVE_REPORT_MESSAGE(MessagePad.MessageType.MsgTypeReportMessage, "监控事件报告"),
-    TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "感知红绿灯"),
+    TYPE_RECEIVE_PERCEPTION_TRAFFIC_LIGHT(MessagePad.MessageType.MsgTypePerceptionTrafficLight, "融合感知红绿灯"),
     TYPE_RECEIVE_PREDICTION_OBSTACLE_TRAJECTORY(MessagePad.MessageType.MsgTypePredictionObstacleTrajectory, "他车轨迹预测"),
     TYPE_RECEIVE_POINT_CLOUD(MessagePad.MessageType.MsgTypePointCloud, "点云透传"),
     TYPE_RECEIVE_PLANNING_OBJECTS(MessagePad.MessageType.MsgTypePlanningObjects, "Planning障碍物"),
diff --git a/libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto b/libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto
new file mode 100644
index 0000000000..b06d7c7a2d
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/fusion_traffic_light.proto
@@ -0,0 +1,43 @@
+syntax = "proto2";
+package perception;
+
+import "header.proto";
+
+enum FusionLightType {
+  TYPE_DEFAULT_FUSION = 0;
+  TYPE_VEHICLE_FUSION = 1;
+  TYPE_BICYLE_FUSION = 2;
+  TYPE_PEDSTRIAN_FUSION = 3;
+  TYPE_LANE_FUSION = 5;
+}
+
+enum FusionLightState {
+  STATE_OFF_FUSION = 0;
+  STATE_RED_FUSION = 1;
+  STATE_YELLOW_FUSION = 2;
+  STATE_GREEN_FUSION = 3;
+  STATE_FLASH_FUSION = 4;
+}
+
+message FusionTrafficLight {
+  optional int64 id = 1;
+  optional FusionLightType type = 2 [default = TYPE_DEFAULT_FUSION];
+  optional FusionLightState state = 3 [default = STATE_OFF_FUSION];
+  optional float duration = 4; // seconds since the last state changed
+  optional FusionLightState next_state = 5 [default = STATE_OFF_FUSION];
+  optional float next_duration = 6 [default = -1.0]; // seconds since the last state changed
+  optional FusionLightState next_two_state = 7 [default = STATE_OFF_FUSION];
+  optional float next_two_duration = 8 [default = -1.0]; // seconds since the last state changed
+}
+
+message FusionTrafficLights {
+  optional common.Header header = 1;
+
+  optional FusionTrafficLight straight = 2;
+  optional FusionTrafficLight left = 3;
+  optional FusionTrafficLight right = 4;
+  optional FusionTrafficLight u_turn = 5;
+
+  optional bool shield = 6 [default = false];//wheather the traffic lights are shield
+  optional uint32 source = 7 [default = 0]; // 0: vehicle, 1:V2I, 2: V2N
+}
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 85d0e289e4..f0a1264eb9 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -24,7 +24,7 @@ enum MessageType
     MsgTypeVehicleState = 0x10003; //底盘信息, 透传底盘状态，pb参考底盘 定频20hz
     MsgTypeAutopilotState = 0x10004; //自动驾驶状态 定频20hz
     MsgTypeReportMessage = 0x10005; //系统事件 不定频
-    MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯 定频10hz
+    MsgTypePerceptionTrafficLight = 0x10006; //融合感知红绿灯 定频10hz
     MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测 定频10hz
     MsgTypePointCloud = 0x10008; //点云透传 定频1hz
     MsgTypePlanningObjects = 0x10009; //planning障碍物 定频10hz
@@ -356,7 +356,7 @@ message AutopilotState
 // refer to mogo_report_msg.proto
 
 // message definition for MessageType: MsgTypePerceptionTrafficLight
-// refer to traffic_light.proto
+// refer to fusion_traffic_light.proto
 
 // message definition for MessageType: MsgTypePredictionObstacleTrajectory
 // refer to prediction.proto
diff --git a/libraries/mogo-adas-data/src/main/proto/traffic_light.proto b/libraries/mogo-adas-data/src/main/proto/traffic_light.proto
deleted file mode 100644
index f223586122..0000000000
--- a/libraries/mogo-adas-data/src/main/proto/traffic_light.proto
+++ /dev/null
@@ -1,43 +0,0 @@
-syntax = "proto2";
-package perception;
-
-import "header.proto";
-
-enum LightType {
-  TYPE_DEFAULT = 0;
-  TYPE_VEHICLE = 1;//机动车道
-  TYPE_BICYLE = 2;//自行车道
-  TYPE_PEDSTRIAN = 3;//行人道
-  TYPE_LANE = 5;//车道
-}
-
-enum LightState {
-  STATE_OFF = 0;//没检测到灯
-  STATE_RED = 1;
-  STATE_YELLOW = 2;
-  STATE_GREEN = 3;
-  STATE_FLASH = 4;//闪烁
-  STATE_OFF_FUSION = 5;
-}
-
-message TrafficLight {
-  optional int64 id = 1;
-  optional LightType type = 2 [default = TYPE_DEFAULT];//灯所处的车道类型
-  optional LightState state = 3 [default = STATE_OFF];//灯态
-  optional float duration = 4; // seconds since the last state changed
-  optional LightState next_state = 5 [default = STATE_OFF_FUSION];
-}
-
-//触发方式：120m以内会有信号，但远的时候可能不准，越近越准
-//straight left right u_turn 同一时间只有会有一个触发
-message TrafficLights {
-  optional common.Header header = 1;
-
-  optional TrafficLight straight = 2;//直行灯
-  optional TrafficLight left = 3;//左转灯
-  optional TrafficLight right = 4;//右转灯
-  optional TrafficLight u_turn = 5;//掉头灯
-
-  optional bool shield = 6 [default = false];//wheather the traffic lights are shield
-  optional uint32 source = 7 [default = 0]; // 0: vehicle, 1:V2I, 2: V2N
-}
\ No newline at end of file
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 22a0b6ab0f..d5f4941523 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -38,7 +38,7 @@ import mogo.v2x.MogoV2X;
 import mogo.v2x.RoadOverviewEvents;
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass;
 import mogo_msg.MogoReportMsg;
-import perception.TrafficLightOuterClass;
+import perception.FusionTrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
 import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;
@@ -128,12 +128,12 @@ public interface OnAdasListener {
     void onReportMessage(MessagePad.Header header, MogoReportMsg.MogoReportMessage mogoReportMessage);
 
     /**
-     * 感知红绿灯
+     * 融合感知红绿灯
      *
      * @param header        头
      * @param trafficLights 感知红绿灯
      */
-    void onPerceptionTrafficLight(MessagePad.Header header, TrafficLightOuterClass.TrafficLights trafficLights);
+    void onPerceptionTrafficLight(MessagePad.Header header, FusionTrafficLightOuterClass.FusionTrafficLights trafficLights);
 
     /**
      * 他车轨迹预测
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
index e074045af6..88573c28bc 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PerceptionTrafficLightMessage.java
@@ -8,23 +8,24 @@ import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 import com.zhidao.support.adas.high.protocol.RawData;
 
-import perception.TrafficLightOuterClass;
+import perception.FusionTrafficLightOuterClass;
+
 
 /**
- * 感知红绿灯
+ * 融合感知红绿灯
  */
 public class PerceptionTrafficLightMessage extends MyAbstractMessageHandler {
 
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
-        TrafficLightOuterClass.TrafficLights trafficLights = TrafficLightOuterClass.TrafficLights.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
-        AdasChannel.calculateTimeConsumingOnDispatchRaw("感知红绿灯", raw.receiveTime);
+        FusionTrafficLightOuterClass.FusionTrafficLights trafficLights = FusionTrafficLightOuterClass.FusionTrafficLights.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("融合感知红绿灯", raw.receiveTime);
         long nowTime = 0;
         if (CupidLogUtils.isEnableLog())
             nowTime = SystemClock.elapsedRealtime();
         if (adasListener != null) {
             adasListener.onPerceptionTrafficLight(raw.getHeader(), trafficLights);
         }
-        AdasChannel.calculateTimeConsumingBusiness("感知红绿灯", nowTime);
+        AdasChannel.calculateTimeConsumingBusiness("融合感知红绿灯", nowTime);
     }
 }