diff --git a/modules/perception/common/io/io_util.cc b/modules/perception/common/io/io_util.cc
index d23d8ee9c521679588c6011ae4b39511e4d2a227..5af24a9088feb82705b2d0f294b3e626d1ce32b3 100644
--- a/modules/perception/common/io/io_util.cc
+++ b/modules/perception/common/io/io_util.cc
@@ -27,7 +27,7 @@
 #include <iomanip>
 
 #include "modules/perception/base/camera.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/lib/io/file_util.h"
 
 namespace apollo {
diff --git a/modules/perception/fusion/base/fusion_log.h b/modules/perception/fusion/base/fusion_log.h
index bbb98d94b1b93c7c757c2858ad313f5cff26e83a..5eb99b9943d19722b11a1ae7f845aa80ae2ad6a3 100644
--- a/modules/perception/fusion/base/fusion_log.h
+++ b/modules/perception/fusion/base/fusion_log.h
@@ -15,7 +15,7 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_FUSION_BASE_LOG_H_
 #define MODULES_PERCEPTION_FUSION_BASE_LOG_H_
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 // 500-599 reserve for fusion module error
 #define FUSION_GET_POSE_ERROR 500          // get pose error
 #define FUSION_GET_HDMAP_ERROR 501         // get hdmap error
diff --git a/modules/perception/fusion/base/sensor.cc b/modules/perception/fusion/base/sensor.cc
index 1e5a91beb063d9b74aaaaea8da5226d7bbd59e78..8a166981b83c584e2e858a7a43f18311125c59f2 100644
--- a/modules/perception/fusion/base/sensor.cc
+++ b/modules/perception/fusion/base/sensor.cc
@@ -17,7 +17,7 @@
 
 #include <assert.h>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/fusion/base/sensor_data_manager.cc b/modules/perception/fusion/base/sensor_data_manager.cc
index 81935473f99f1025b452ae84a2bf9b1a807a28c5..2a1791da0e43311577fb8f6ac2eaedc880918ade 100644
--- a/modules/perception/fusion/base/sensor_data_manager.cc
+++ b/modules/perception/fusion/base/sensor_data_manager.cc
@@ -17,7 +17,7 @@
 
 #include <utility>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/fusion/common/dst_evidence.cc b/modules/perception/fusion/common/dst_evidence.cc
index 7251dc917d9ef5dd8180c90f6f037e97b2125e72..c65590969c4cfc26f46d833177b667c9de2364e8 100644
--- a/modules/perception/fusion/common/dst_evidence.cc
+++ b/modules/perception/fusion/common/dst_evidence.cc
@@ -20,7 +20,7 @@
 
 #include "boost/format.hpp"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/fusion/common/kalman_filter.cc b/modules/perception/fusion/common/kalman_filter.cc
index cae775bf21cd8f7f2f7e8a4140a0d55f54a7aa16..3d33967f9dbd8cdaa36d8e42ff88ca0269b74d16 100644
--- a/modules/perception/fusion/common/kalman_filter.cc
+++ b/modules/perception/fusion/common/kalman_filter.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/fusion/common/kalman_filter.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/fusion/test/fusion_common_camera_util_test.cc b/modules/perception/fusion/test/fusion_common_camera_util_test.cc
index 16d7e65720e35b2250ac17d2e66710ef34acf718..ee98df24c10a48783f3364c1ad6ccc66b8e325ae 100644
--- a/modules/perception/fusion/test/fusion_common_camera_util_test.cc
+++ b/modules/perception/fusion/test/fusion_common_camera_util_test.cc
@@ -16,7 +16,7 @@
 #include <gtest/gtest.h>
 #include <iostream>
 #include <vector>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/fusion/base/sensor_data_manager.h"
 #include "modules/perception/fusion/common/camera_util.h"
 
diff --git a/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc b/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc
index 5d075294d17e19c386b9229b3bb128a54adf912f..44fdca22a57429be1acdd1986c932026ef8bffd0 100644
--- a/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc
+++ b/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc
@@ -21,7 +21,7 @@
 
 #include "boost/format.hpp"
 #include "gtest/gtest.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 #include "modules/perception/fusion/common/dst_evidence.h"
 
diff --git a/modules/perception/fusion/test/fusion_common_information_filter_test.cc b/modules/perception/fusion/test/fusion_common_information_filter_test.cc
index ea51f14a6c1174ad7070e2eb1ec48fd442ca0134..01c87cd9c90437237ba09f10360197190d7b2b69 100644
--- a/modules/perception/fusion/test/fusion_common_information_filter_test.cc
+++ b/modules/perception/fusion/test/fusion_common_information_filter_test.cc
@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include <gtest/gtest.h>
 #include <iostream>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/fusion/common/information_filter.h"
 
 namespace apollo {
diff --git a/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc b/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc
index 5c1848cf7d3b3095bd6350faa2ca5a099a40fd9c..265027ddb80df4221492f6b5f735c07716290bb2 100644
--- a/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc
+++ b/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc
@@ -17,7 +17,7 @@
 #include <iostream>
 #include <vector>
 #define private public
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/fusion/common/kalman_filter.h"
 
 namespace apollo {
diff --git a/modules/perception/inference/tensorrt/batch_stream.cc b/modules/perception/inference/tensorrt/batch_stream.cc
index 462051579ffbfa3d7ee78170dfaea543eb350b78..e8ad9d143fc9107a003f7f93cf70206b56e654c0 100644
--- a/modules/perception/inference/tensorrt/batch_stream.cc
+++ b/modules/perception/inference/tensorrt/batch_stream.cc
@@ -17,7 +17,7 @@
 #include <algorithm>
 #include <cstdio>
 #include <string>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/inference/tensorrt/rt_net.cc b/modules/perception/inference/tensorrt/rt_net.cc
index 7997fc4ea7b2e3b5bb250fc646121dfc8b92f41b..38a92032166647f3956fe3a9d5f79644b5d1af11 100644
--- a/modules/perception/inference/tensorrt/rt_net.cc
+++ b/modules/perception/inference/tensorrt/rt_net.cc
@@ -19,7 +19,7 @@
 #include <set>
 #include <vector>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/inference/tensorrt/plugins/argmax_plugin.h"
 #include "modules/perception/inference/tensorrt/plugins/slice_plugin.h"
 #include "modules/perception/inference/tensorrt/plugins/softmax_plugin.h"
diff --git a/modules/perception/inference/test/inference_batch_stream_test.cc b/modules/perception/inference/test/inference_batch_stream_test.cc
index e4a16a97a79a690031abd838c6a9e426e1f972c7..a3460f946fdf839e4b5d7ff97d0c52ccc19d708b 100644
--- a/modules/perception/inference/test/inference_batch_stream_test.cc
+++ b/modules/perception/inference/test/inference_batch_stream_test.cc
@@ -18,7 +18,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include "gtest/gtest.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 #define private public
 
diff --git a/modules/perception/inference/test/inference_entropy_calibrator_test.cc b/modules/perception/inference/test/inference_entropy_calibrator_test.cc
index bf2ef25e9e1713fba5dcc39c00b3afb6b66ac949..8c9ee53c9a9e7d99b9a53a24d25fb66f968ea0cf 100644
--- a/modules/perception/inference/test/inference_entropy_calibrator_test.cc
+++ b/modules/perception/inference/test/inference_entropy_calibrator_test.cc
@@ -18,7 +18,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include "gtest/gtest.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 #define private public
 
diff --git a/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc b/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc
index 6a21f0ae9efb975cc76d92ececaeb0aa777c3bad..96d2252913119f55e685232ad443b6d999749409 100644
--- a/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc
+++ b/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc
@@ -17,7 +17,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/base/object_pool_types.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"
diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc b/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc
index c9347b3eedfb2834e07db1d7bb6d15ef2a5e4f84..729b733fabc6af312b28298e07cf4fdf1e459dbc 100644
--- a/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc
+++ b/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc
@@ -17,7 +17,7 @@
 #include <algorithm>
 #include <iostream>
 #include <vector>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc b/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc
index fa4b3f4ff89ea18dd2d06a7c8bec3c220f79ede0..94a40c808c8f95b536dc1a872f22de05d0d2f183 100644
--- a/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc
+++ b/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc
@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/geometry/basic.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"
diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc b/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc
index 503fd66ce8d7007741b88ef52f729e60218cee96..73c170e75ea780a50f18450933df2c1115013776 100644
--- a/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc
+++ b/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc
@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.h"
 #include <Eigen/Core>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/graph/gated_hungarian_bigraph_matcher.h"
 
 namespace apollo {
diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc b/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc
index 0ddaab1c0d01d895f6e7ed07969b9f259151da79..4d90c9453684f9bc316fa64d2ca38ef96fc48dd6 100644
--- a/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc
+++ b/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc
@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/lidar/lib/tracker/hm_tracker/tracker.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"
 #include "modules/perception/lib/io/protobuf_util.h"
diff --git a/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc b/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc
index 91f0b65702cee634a9ca4ee6f47677d8f31c5271..5371facf123877acd1f082f2305199dc7c20fee4 100644
--- a/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc
+++ b/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 #include <gtest/gtest.h>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/graph/secure_matrix.h"
 #include "modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.h"
 #include "modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.h"
diff --git a/modules/perception/map/hdmap/BUILD b/modules/perception/map/hdmap/BUILD
index 2b241280d25afeceb579a371f7a6ff4a12cff5cb..26ba6205cb2a9f9cfc0ff2eee302b2424c9db37e 100644
--- a/modules/perception/map/hdmap/BUILD
+++ b/modules/perception/map/hdmap/BUILD
@@ -13,7 +13,10 @@ cc_library(
     deps = [
         "//modules/perception/base:base_type",
         "//modules/perception/base:point_cloud",
+        "//modules/perception/common/geometry:common",
+        "//modules/perception/lib/config_manager",
         "//modules/perception/lib/singleton",
+        "//modules/perception/proto:perception_config_schema_proto",
     ],
 )
 
@@ -24,8 +27,8 @@ cc_test(
         "hdmap_input_test.cc",
     ],
     deps = [
-        "@gtest//:main",
         ":hdmap_input",
+        "@gtest//:main",
     ],
 )
 
diff --git a/modules/perception/map/hdmap/hdmap_input.cc b/modules/perception/map/hdmap/hdmap_input.cc
index 9094d624337fee63ddbf019cab9a90a370523baf..0dc45f0689835766fe9b630b087bbe9ae5bb307b 100644
--- a/modules/perception/map/hdmap/hdmap_input.cc
+++ b/modules/perception/map/hdmap/hdmap_input.cc
@@ -17,8 +17,11 @@
 #include "modules/perception/map/hdmap/hdmap_input.h"
 
 #include <algorithm>
-// #include "modules/perception/base/log.h"
-// #include "modules/perception/common/geometry/common.h"
+#include <string>
+#include <vector>
+#include "cybertron/common/log.h"
+#include "modules/perception/common/geometry/common.h"
+
 // #include "hdmap_definitions.h"  // NOLINT
 // #include "hdmap_trajectory.h"  // NOLINT
 // #include "modules/perception/base/object_pool_types.h"
@@ -40,8 +43,8 @@ namespace map {
 // using lib::ConfigManager;
 // using base::PolygonDType;
 
-using base::RoadBoundary;
 using base::PointD;
+using base::RoadBoundary;
 // using base::PointDCloud;
 // using base::PointDCloudPtr;
 // HDMapInput
@@ -100,8 +103,7 @@ bool HDMapInput::InitHDMap() {
 }
 
 bool HDMapInput::GetRoiHDMapStruct(
-    const base::PointD& pointd,
-    const double distance,
+    const base::PointD& pointd, const double distance,
     std::shared_ptr<base::HdmapStruct> hdmap_struct_prt) {
   // lib::MutexLock lock(&mutex_);
   // CHECK_NOTNULL(hdmap_.get());
diff --git a/modules/perception/map/hdmap/hdmap_input_test.cc b/modules/perception/map/hdmap/hdmap_input_test.cc
index acee5aac848174f06aad1b8a5ffe3ba141a48a0d..c5105dd79c8ca8f4304c20b0d0416f344f396123 100644
--- a/modules/perception/map/hdmap/hdmap_input_test.cc
+++ b/modules/perception/map/hdmap/hdmap_input_test.cc
@@ -14,11 +14,15 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include "modules/perception/map/hdmap/hdmap_input.h"
+
 #include <gflags/gflags.h>
 #include <gtest/gtest.h>
-// #include "modules/perception/base/log.h"
-// #include "modules/perception/lib/config_manager/config_manager.h"
-#include "modules/perception/map/hdmap/hdmap_input.h"
+
+#include "cybertron/common/log.h"
+
+#include "modules/perception/lib/config_manager/config_manager.h"
+
 namespace apollo {
 namespace perception {
 namespace lib {
@@ -32,13 +36,13 @@ namespace map {
 class HDMapInputTest : public testing::Test {
  protected:
   virtual void SetUp() {
-//    char* cybertron_path = "CYBERTRON_PATH=";
-//    putenv(cybertron_path);
-//    char* module_path = "MODULE_PATH=";
-//    putenv(module_path);
-//    lib::FLAGS_config_manager_path = "./map_test_data/hdmap/conf";
-//    config_manager_ = lib::Singleton<ConfigManager>::get_instance();
-//    ASSERT_TRUE(config_manager_ != NULL);
+    //    char* cybertron_path = "CYBERTRON_PATH=";
+    //    putenv(cybertron_path);
+    //    char* module_path = "MODULE_PATH=";
+    //    putenv(module_path);
+    //    lib::FLAGS_config_manager_path = "./map_test_data/hdmap/conf";
+    //    config_manager_ = lib::Singleton<ConfigManager>::get_instance();
+    //    ASSERT_TRUE(config_manager_ != NULL);
   }
 
  protected:
diff --git a/modules/perception/onboard/msg_buffer/msg_buffer.h b/modules/perception/onboard/msg_buffer/msg_buffer.h
index 9b7170816ec3f7a094983ebdcd260ece99389a02..845a89928eb0906291fc946038dba0ba4b5cac3c 100644
--- a/modules/perception/onboard/msg_buffer/msg_buffer.h
+++ b/modules/perception/onboard/msg_buffer/msg_buffer.h
@@ -25,7 +25,7 @@
 
 #include "cybertron/component/component.h"
 #include "float.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
diff --git a/modules/perception/onboard/msg_serializer/msg_serializer.cc b/modules/perception/onboard/msg_serializer/msg_serializer.cc
index e4a861d84f9ebfe494ba3e49742da842de102d41..cbdf23e887dc17a0d5b208a236cf44df59e9cb3d 100644
--- a/modules/perception/onboard/msg_serializer/msg_serializer.cc
+++ b/modules/perception/onboard/msg_serializer/msg_serializer.cc
@@ -16,7 +16,7 @@
 #include "modules/perception/onboard/msg_serializer/msg_serializer.h"
 #include "modules/perception/onboard/common_flags/common_flags.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/lib/utils/time_util.h"
 
 namespace apollo {
diff --git a/modules/perception/onboard/transform_wrapper/transform_wrapper.cc b/modules/perception/onboard/transform_wrapper/transform_wrapper.cc
index ef8e55a511cf2cd26f0834ff7ddd0086e320c6e4..8939982e87f28eed7ddc85b905a6f760cda17b1e 100644
--- a/modules/perception/onboard/transform_wrapper/transform_wrapper.cc
+++ b/modules/perception/onboard/transform_wrapper/transform_wrapper.cc
@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/onboard/transform_wrapper/transform_wrapper.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/sensor_manager/sensor_manager.h"
 
 namespace apollo {
diff --git a/modules/perception/proto/BUILD b/modules/perception/proto/BUILD
index 11cf574137bd502a06c9b44df975df3489e7760b..90742c709aadca672d665531a2197a888bc312cd 100644
--- a/modules/perception/proto/BUILD
+++ b/modules/perception/proto/BUILD
@@ -16,10 +16,10 @@ proto_library(
         "traffic_light_detection.proto",
     ],
     deps = [
-        "//modules/map/proto:map_proto_lib",
         "//modules/common/proto:error_code_proto_lib",
         "//modules/common/proto:geometry_proto_lib",
         "//modules/common/proto:header_proto_lib",
+        "//modules/map/proto:map_proto_lib",
     ],
 )