diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
index 554fedec96..b6214a4637 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/MyPointCloud.java
@@ -3,11 +3,12 @@ package com.zhidao.adas.client.bean;
 import com.google.protobuf.TextFormat;
 
 import mogo.telematics.pad.MessagePad;
+import rule_segement.MogoPointCloudOuterClass;
 
 public class MyPointCloud extends BaseInfo {
-    public final rule_segement.PointCloud.LidarPointCloud bean;
+    public final MogoPointCloudOuterClass.MogoPointCloud bean;
 
-    public MyPointCloud(MessagePad.Header header, rule_segement.PointCloud.LidarPointCloud bean) {
+    public MyPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud bean) {
         super("接收", bean.getSerializedSize(), header);
         this.bean = bean;
     }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index efb76a26e3..9434e4b24d 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -96,7 +96,7 @@ import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;
-import rule_segement.PointCloud;
+import rule_segement.MogoPointCloudOuterClass;
 
 public class MainActivity extends BaseActivity implements OnAdasListener, OnAdasConnectStatusListener, BaseAdapter.OnItemClickListener<String> {
     private final static String TAG = MainActivity.class.getSimpleName();
@@ -276,7 +276,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
             public void onClick(View v) {
 //                MessagePad.Header header = MessagePad.Header.newBuilder()
 //                        .setTimestamp(1.6523361438761907E9).build();
-//                PointCloud.LidarPointCloud pointCloud = PointCloud.LidarPointCloud.newBuilder()
+//               MogoPointCloudOuterClass.MogoPointCloud pointCloud = MogoPointCloudOuterClass.MogoPointCloud.newBuilder()
 //                        .setSelfLongitude(112.57563687979261)
 //                        .setSelfLatitude(26.828128487326854)
 //                        .setSelfAltitude(52.89)
@@ -869,7 +869,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
 
     @Override
-    public void onPointCloud(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) {
+    public void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud) {
         MyPointCloud base = new MyPointCloud(header, pointCloud);
         DataDistribution.getInstance().addData(base);
 //        String data = PointCloudDecoder.decode(header, pointCloud);
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index 5a3a620ab5..aca4b1bd9e 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -51,7 +51,7 @@ import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import prediction.Prediction
 import record_cache.RecordPanelOuterClass
-import rule_segement.PointCloud
+import rule_segement.MogoPointCloudOuterClass
 
 /**
  * @author emArrow
@@ -243,7 +243,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
         //他车轨迹预测
     }
 
-    override fun onPointCloud(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+    override fun onPointCloud(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
         //点云数据透传
         //Logger.d("pointCloud","pointCloud"+pointCloud);
         CallerAutopilotPointCloudListenerManager.invokeAutopilotPointCloudDataUpdate(header,pointCloud)
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
index 0eb5ad3775..c483eb95b3 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
@@ -7,7 +7,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPointCloudList
 import com.zhidao.support.adas.high.common.PointCloudDecoder
 import com.zhidaoauto.map.sdk.open.business.PointCloudHelper
 import mogo.telematics.pad.MessagePad
-import rule_segement.PointCloud
+import rule_segement.MogoPointCloudOuterClass
 
 /**
  * 订阅点云数据
@@ -38,7 +38,7 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
         CallerAutopilotPointCloudListenerManager.removeListener(TAG)
     }
 
-    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+    override fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
         // 根据配置动态控制点云是否绘制
         if (FunctionBuildConfig.isDrawPointCloudData) {
             val data = PointCloudDecoder.decode(header, pointCloud)
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
index 9437bad03a..3d73c8a06b 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotPointCloudListener.kt
@@ -1,7 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import mogo.telematics.pad.MessagePad
-import rule_segement.PointCloud
+import rule_segement.MogoPointCloudOuterClass
 
 /**
  * @author xiaoyuzhou
@@ -15,6 +15,6 @@ interface IMoGoAutopilotPointCloudListener {
      *
      * @param pointCloud 点云数据
      */
-    fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?)
+    fun onAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?)
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
index b4e8d6350c..e05b1fd725 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotPointCloudListenerManager.kt
@@ -6,7 +6,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPointCloudListen
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
 import perception.TrafficLightOuterClass
-import rule_segement.PointCloud
+import rule_segement.MogoPointCloudOuterClass
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -62,7 +62,7 @@ object CallerAutopilotPointCloudListenerManager : CallerBase() {
      * 识别交通元素数据发生更新 回调
      */
     @Synchronized
-    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: PointCloud.LidarPointCloud?) {
+    fun invokeAutopilotPointCloudDataUpdate(header: MessagePad.Header?, pointCloud: MogoPointCloudOuterClass.MogoPointCloud?) {
         M_AUTOPILOT_IDENTIFY_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
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 507943bfbf..dffde14f88 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -280,7 +280,7 @@ message Warn
 // message definition for MsgTypeArrivalNotification
 message ArrivalNotification
 {
-    uint32 carType = 1;
+    uint32 carType = 1; //deserted
     Location endLocation = 2;
 }
 
@@ -292,7 +292,7 @@ enum SystemCmdType {
 
 message SystemCmdReq
 {
-    SystemCmdType cmdType = 1; //
+    SystemCmdType cmdType = 1;
 }
 
 
diff --git a/libraries/mogo-adas-data/src/main/proto/point_cloud.proto b/libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
similarity index 94%
rename from libraries/mogo-adas-data/src/main/proto/point_cloud.proto
rename to libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
index 0bb8371f2c..4d2393d46d 100644
--- a/libraries/mogo-adas-data/src/main/proto/point_cloud.proto
+++ b/libraries/mogo-adas-data/src/main/proto/mogo_point_cloud.proto
@@ -3,7 +3,7 @@ package rule_segement;
 
 import "header.proto";
 
-message LidarPointCloud
+message MogoPointCloud
 { 
     optional common.Header header = 1; 
     optional double self_longitude = 2;
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 4d9a5e45a0..2a1c161a74 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
@@ -8,7 +8,7 @@ import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import prediction.Prediction;
 import record_cache.RecordPanelOuterClass;
-import rule_segement.PointCloud;
+import rule_segement.MogoPointCloudOuterClass;
 
 /**
  * @ProjectName: lib-adas-fpga
@@ -94,7 +94,7 @@ public interface OnAdasListener {
      * @param header     头
      * @param pointCloud 数据
      */
-    void onPointCloud(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud);
+    void onPointCloud(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud);
 
     /**
      * 自动驾驶设备基础信息请求
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
index ee9389deda..3480e81955 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/PointCloudDecoder.java
@@ -1,7 +1,7 @@
 package com.zhidao.support.adas.high.common;
 
 import mogo.telematics.pad.MessagePad;
-import rule_segement.PointCloud;
+import rule_segement.MogoPointCloudOuterClass;
 
 /**
  * 点云数据解码器
@@ -17,7 +17,7 @@ public class PointCloudDecoder {
      */
     private static final int NUMBER_OF_DATA = 5;
 
-    public static String decode(MessagePad.Header header, PointCloud.LidarPointCloud pointCloud) {
+    public static String decode(MessagePad.Header header, MogoPointCloudOuterClass.MogoPointCloud pointCloud) {
         StringBuilder builder = new StringBuilder();
         builder.append(((long) header.getTimestamp() * 1000.0D)).append(",");
         double d;
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
index 284dea0bd8..a5f6ba4986 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/PointCloudMessage.java
@@ -5,7 +5,7 @@ import com.google.protobuf.InvalidProtocolBufferException;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.protocol.RawData;
 
-import rule_segement.PointCloud;
+import rule_segement.MogoPointCloudOuterClass;
 
 /**
  * 透传点云数据
@@ -14,7 +14,7 @@ public class PointCloudMessage extends MyAbstractMessageHandler {
 
     @Override
     public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
-        PointCloud.LidarPointCloud pointCloud = PointCloud.LidarPointCloud.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        MogoPointCloudOuterClass.MogoPointCloud pointCloud = MogoPointCloudOuterClass.MogoPointCloud.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
         if (adasListener != null) {
             adasListener.onPointCloud(raw.getHeader(), pointCloud);
         }