diff --git a/modules/perception/common/sensor_manager/sensor_manager.cc b/modules/perception/common/sensor_manager/sensor_manager.cc
index 30b2de23d25cc5e7e8998856056592796de0e5c0..f9d074cdb3ce30b4891fef4039a23c5ee1f2e12b 100644
--- a/modules/perception/common/sensor_manager/sensor_manager.cc
+++ b/modules/perception/common/sensor_manager/sensor_manager.cc
@@ -47,11 +47,8 @@ bool SensorManager::Init() {
   distort_model_map_.clear();
   undistort_model_map_.clear();
 
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string file_path = lib::FileUtil::GetAbsolutePath(
-      config_manager->work_root(), FLAGS_obs_sensor_meta_path);
+      lib::ConfigManager::Instance()->work_root(), FLAGS_obs_sensor_meta_path);
 
   MultiSensorMeta sensor_list_proto;
   if (!GetProtoFromASCIIFile(file_path, &sensor_list_proto)) {
diff --git a/modules/perception/fusion/base/base_init_options.cc b/modules/perception/fusion/base/base_init_options.cc
index b5aea3345c9dd17ef3fc08c01a17a3b12441fe32..46a67b8dd9b8cb9d38f052dfaf886f113a7b6d96 100644
--- a/modules/perception/fusion/base/base_init_options.cc
+++ b/modules/perception/fusion/base/base_init_options.cc
@@ -26,11 +26,9 @@ namespace fusion {
 bool GetFusionInitOptions(const std::string& module_name,
                           BaseInitOptions* options) {
   CHECK_NOTNULL(options);
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   const lib::ModelConfig* model_config = nullptr;
-  if (!config_manager->GetModelConfig(module_name, &model_config)) {
+  if (!lib::ConfigManager::Instance()->GetModelConfig(module_name,
+                                                      &model_config)) {
     return false;
   }
   bool state = model_config->get_value("root_dir", &(options->root_dir)) &&
diff --git a/modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion.cc b/modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion.cc
index 6558af5cdc548224fd9cb0ca0a13695eb7417a97..9cf45a9e939f6557cb0bb00a019de5e1f42f6c2c 100644
--- a/modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion.cc
+++ b/modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion.cc
@@ -49,11 +49,8 @@ bool DstExistanceFusion::Init() {
     return false;
   }
 
-  lib::ConfigManager *config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string woork_root_config = lib::FileUtil::GetAbsolutePath(
-      config_manager->work_root(), options.root_dir);
+      lib::ConfigManager::Instance()->work_root(), options.root_dir);
 
   std::string config =
       lib::FileUtil::GetAbsolutePath(woork_root_config, options.conf_file);
diff --git a/modules/perception/fusion/lib/data_fusion/tracker/pbf_tracker/pbf_tracker.cc b/modules/perception/fusion/lib/data_fusion/tracker/pbf_tracker/pbf_tracker.cc
index 38ac90fa50a8423d0cc15880cee4cfafdfc9c202..4362685c209a357f1a5502d3d3d2369eef37cb32 100644
--- a/modules/perception/fusion/lib/data_fusion/tracker/pbf_tracker/pbf_tracker.cc
+++ b/modules/perception/fusion/lib/data_fusion/tracker/pbf_tracker/pbf_tracker.cc
@@ -44,11 +44,8 @@ bool PbfTracker::InitParams() {
     return false;
   }
 
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string woork_root_config = lib::FileUtil::GetAbsolutePath(
-      config_manager->work_root(), options.root_dir);
+      lib::ConfigManager::Instance()->work_root(), options.root_dir);
 
   std::string config =
       lib::FileUtil::GetAbsolutePath(woork_root_config, options.conf_file);
diff --git a/modules/perception/fusion/lib/data_fusion/type_fusion/dst_type_fusion/dst_type_fusion.cc b/modules/perception/fusion/lib/data_fusion/type_fusion/dst_type_fusion/dst_type_fusion.cc
index dcc70d7f21489a9ee35a105d446b0dcbaaddb009..ba15fffa2173563585206dc2785849ac7bcf9106 100644
--- a/modules/perception/fusion/lib/data_fusion/type_fusion/dst_type_fusion/dst_type_fusion.cc
+++ b/modules/perception/fusion/lib/data_fusion/type_fusion/dst_type_fusion/dst_type_fusion.cc
@@ -72,11 +72,8 @@ bool DstTypeFusion::Init() {
     return false;
   }
 
-  lib::ConfigManager *config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string woork_root_config = lib::FileUtil::GetAbsolutePath(
-      config_manager->work_root(), options.root_dir);
+      lib::ConfigManager::Instance()->work_root(), options.root_dir);
 
   std::string config =
       lib::FileUtil::GetAbsolutePath(woork_root_config, options.conf_file);
diff --git a/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc b/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc
index 5bd9f6fff286210033ef97579ef71b3473ec0d54..d59a39d5e632e79842496c7713fc8662122b601e 100644
--- a/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc
+++ b/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc
@@ -52,11 +52,8 @@ bool ProbabilisticFusion::Init(const FusionInitOptions& init_options) {
     return false;
   }
 
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string woork_root_config = lib::FileUtil::GetAbsolutePath(
-      config_manager->work_root(), options.root_dir);
+      lib::ConfigManager::Instance()->work_root(), options.root_dir);
 
   std::string config =
       lib::FileUtil::GetAbsolutePath(woork_root_config, options.conf_file);
diff --git a/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc b/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc
index 2e2f90364b79c5dfc06dedc846a14ae09c43af8c..853dbf319c62ef9b4473bdde775e328da9530600 100644
--- a/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc
+++ b/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc
@@ -38,11 +38,8 @@ bool PbfGatekeeper::Init() {
     return false;
   }
 
-  lib::ConfigManager *config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string woork_root_config = lib::FileUtil::GetAbsolutePath(
-      config_manager->work_root(), options.root_dir);
+      lib::ConfigManager::Instance()->work_root(), options.root_dir);
 
   std::string config =
       lib::FileUtil::GetAbsolutePath(woork_root_config, options.conf_file);
diff --git a/modules/perception/lib/config_manager/config_manager.h b/modules/perception/lib/config_manager/config_manager.h
index 235d32231b7039a869ae7afd0d733d598a6eb5c9..569a662bab8d8d6e2c6f8f80e2659abcff19478f 100644
--- a/modules/perception/lib/config_manager/config_manager.h
+++ b/modules/perception/lib/config_manager/config_manager.h
@@ -119,7 +119,7 @@
 #include <utility>
 #include <vector>
 
-#include "modules/perception/lib/singleton/singleton.h"
+#include "cyber/common/macros.h"
 #include "modules/perception/lib/thread/mutex.h"
 #include "modules/perception/proto/perception_config_schema.pb.h"
 
@@ -131,6 +131,8 @@ class ModelConfig;
 
 class ConfigManager {
  public:
+  ~ConfigManager();
+
   // thread-safe interface.
   bool Init();
 
@@ -146,29 +148,17 @@ class ConfigManager {
 
   void set_work_root(const std::string &work_root) { work_root_ = work_root; }
 
-  ConfigManager(const ConfigManager &) = delete;
-  ConfigManager operator=(const ConfigManager &) = delete;
-
  private:
-  ConfigManager();
-  ~ConfigManager();
-
   bool InitInternal();
   std::string get_env(const std::string &var_name);
 
-  friend class lib::Singleton<ConfigManager>;
-
-  /* TODO(all): to remove
-  typedef std::map<std::string, ModelConfig *> ModelConfigMap;
-  typedef ModelConfigMap::iterator ModelConfigMapIterator;
-  typedef ModelConfigMap::const_iterator ModelConfigMapConstIterator;
-  */
-
   // key: model_name
   std::map<std::string, ModelConfig *> model_config_map_;
   Mutex mutex_;  // multi-thread init safe.
   bool inited_ = false;
   std::string work_root_;  // ConfigManager work root dir.
+
+  DECLARE_SINGLETON(ConfigManager);
 };
 
 class ModelConfig {
@@ -243,19 +233,6 @@ class ModelConfig {
   std::string name_;
   std::string version_;
 
-  /* TODO(all): to remove
-  typedef std::map<std::string, int> IntegerParamMap;
-  typedef std::map<std::string, std::string> StringParamMap;
-  typedef std::map<std::string, double> DoubleParamMap;
-  typedef std::map<std::string, float> FloatParamMap;
-  typedef std::map<std::string, bool> BoolParamMap;
-  typedef std::map<std::string, std::vector<int>> ArrayIntegerParamMap;
-  typedef std::map<std::string, std::vector<std::string>> ArrayStringParamMap;
-  typedef std::map<std::string, std::vector<double>> ArrayDoubleParamMap;
-  typedef std::map<std::string, std::vector<float>> ArrayFloatParamMap;
-  typedef std::map<std::string, std::vector<bool>> ArrayBoolParamMap;
-  */
-
   std::map<std::string, int> integer_param_map_;
   std::map<std::string, std::string> string_param_map_;
   std::map<std::string, double> double_param_map_;
diff --git a/modules/perception/lib/config_manager/config_manager_test.cc b/modules/perception/lib/config_manager/config_manager_test.cc
index 19fec096a3ddde41e1286033dae766950c2eb5b6..7fe7d9f063a65f2be00395c62b12575b0930d85d 100644
--- a/modules/perception/lib/config_manager/config_manager_test.cc
+++ b/modules/perception/lib/config_manager/config_manager_test.cc
@@ -35,12 +35,12 @@ class ConfigManagerTest : public testing::Test {
     char module_path[80] = "MODULE_PATH=";
     putenv(module_path);
     FLAGS_config_manager_path = "/apollo/modules/perception/testdata/lib/conf";
-    config_manager_ = lib::Singleton<ConfigManager>::get_instance();
+    config_manager_ = ConfigManager::Instance();
     ASSERT_TRUE(config_manager_ != nullptr);
   }
 
  protected:
-  ConfigManager* config_manager_;
+  std::shared_ptr<ConfigManager> config_manager_;
 };
 
 TEST_F(ConfigManagerTest, TestInit) {
diff --git a/modules/perception/lidar/app/lidar_obstacle_segmentation.cc b/modules/perception/lidar/app/lidar_obstacle_segmentation.cc
index 9ed8dcdbc3a5f703b1cd64f59bdbd70a9a83769c..ce967bb0bc29fb9c394a598e6986406a97867f7b 100644
--- a/modules/perception/lidar/app/lidar_obstacle_segmentation.cc
+++ b/modules/perception/lidar/app/lidar_obstacle_segmentation.cc
@@ -30,9 +30,7 @@ namespace lidar {
 bool LidarObstacleSegmentation::Init(
     const LidarObstacleSegmentationInitOptions& options) {
   auto& sensor_name = options.sensor_name;
-  lib::ConfigManager* config_manager
-    = lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
 
diff --git a/modules/perception/lidar/app/lidar_obstacle_tracking.cc b/modules/perception/lidar/app/lidar_obstacle_tracking.cc
index 4cc4300613bb77197e71c39547d0f9e42769301e..d2195d64b7f21d4c9e0cbe263bf1ff5c6546848e 100644
--- a/modules/perception/lidar/app/lidar_obstacle_tracking.cc
+++ b/modules/perception/lidar/app/lidar_obstacle_tracking.cc
@@ -29,9 +29,7 @@ namespace lidar {
 bool LidarObstacleTracking::Init(
     const LidarObstacleTrackingInitOptions& options) {
   auto& sensor_name = options.sensor_name;
-  lib::ConfigManager* config_manager
-    = lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
 
diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc b/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc
index 6b9ce4f7ce85e35e81da277a3ec1f5b93fbc5c32..3152f597c88d594720f4bfdda4479858575c07b4 100644
--- a/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc
+++ b/modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc
@@ -34,9 +34,7 @@ using ObjectPtr = std::shared_ptr<apollo::perception::base::Object>;
 using apollo::perception::base::ObjectType;
 
 bool CCRFOneShotTypeFusion::Init(const TypeFusionInitOption& option) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
@@ -131,9 +129,7 @@ bool CCRFOneShotTypeFusion::FuseOneShotTypeProbs(const ObjectPtr& object,
 
 bool CCRFSequenceTypeFusion::Init(const TypeFusionInitOption& option) {
   CHECK(one_shot_fuser_.Init(option));
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.cc b/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.cc
index f7cc5c9fe24a13ff6206e95fb2a5ff0352cbd178..c795c9cdb7f45a99103c1f7d3f55f89838c39fb6 100644
--- a/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.cc
+++ b/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.cc
@@ -28,9 +28,7 @@ using ObjectPtr = std::shared_ptr<apollo::perception::base::Object>;
 using apollo::perception::base::ObjectType;
 
 bool FusedClassifier::Init(const ClassifierInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc b/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc
index 4181ff9df7717a1bec7018c83e618aa90a1d6770..cb17106b0f93e64391f6f554e15c6caeca3ebf67 100644
--- a/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc
+++ b/modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc
@@ -71,7 +71,6 @@ class FusedClassifierTest : public testing::Test {
   std::vector<double> timestamps_;
   static const size_t kSequenceLength;
   static const size_t kObjectNum;
-  lib::ConfigManager* config_manager_;
 };
 
 const size_t FusedClassifierTest::kSequenceLength = 10;
diff --git a/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector.cc b/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector.cc
index 34524ca540283443702aee6466e437006864735f..2bee24c150d1e2d1c486fe47d5c70bb40030909a 100644
--- a/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector.cc
+++ b/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector.cc
@@ -27,9 +27,7 @@ namespace perception {
 namespace lidar {
 
 bool GroundServiceDetector::Init(const GroundDetectorInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
 
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
diff --git a/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector_test.cc b/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector_test.cc
index 8f972c3919af699edde1837ee84387503d104164..8d1a1015465b2846bace76eb82b6046d9ea68f4c 100644
--- a/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector_test.cc
+++ b/modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector_test.cc
@@ -35,9 +35,7 @@ class LidarLibGroundServiceDetectorTest : public testing::Test {
     FLAGS_work_root = "/apollo/modules/perception/testdata/"
         "lidar/lib/ground_detector/ground_service_detector";
     FLAGS_config_manager_path = "./conf";
-    lib::ConfigManager* config_manager =
-        lib::Singleton<lib::ConfigManager>::get_instance();
-    config_manager->Reset();
+    lib::ConfigManager::Instance()->Reset();
   }
 
   void TearDown() {}
diff --git a/modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector/spatio_temporal_ground_detector.cc b/modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector/spatio_temporal_ground_detector.cc
index eb48e770727356bfb231b41b2541ed0f0f9b2cd1..7f5c82a50d70dfe580ed3d0cd9afc53476fb1dfa 100644
--- a/modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector/spatio_temporal_ground_detector.cc
+++ b/modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector/spatio_temporal_ground_detector.cc
@@ -32,12 +32,10 @@ using apollo::common::util::GetProtoFromFile;
 
 bool SpatioTemporalGroundDetector::Init(
     const GroundDetectorInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   const lib::ModelConfig* model_config = nullptr;
-  CHECK(config_manager->GetModelConfig("SpatioTemporalGroundDetector",
-                                       &model_config))
+  auto& config_manager = lib::ConfigManager::Instance();
+  CHECK(config_manager->GetModelConfig(
+      "SpatioTemporalGroundDetector", &model_config))
       << "Failed to get model config: SpatioTemporalGroundDetector";
 
   const std::string& work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/map_manager/map_manager.cc b/modules/perception/lidar/lib/map_manager/map_manager.cc
index 9f64e14487d5eab60d4e01f89380cce4c1865954..ff53240ede96fe1dc793b1ba5ef110d8db88426c 100644
--- a/modules/perception/lidar/lib/map_manager/map_manager.cc
+++ b/modules/perception/lidar/lib/map_manager/map_manager.cc
@@ -28,9 +28,7 @@ namespace perception {
 namespace lidar {
 
 bool MapManager::Init(const MapManagerInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/map_manager/map_manager_test.cc b/modules/perception/lidar/lib/map_manager/map_manager_test.cc
index 7fe0663ac608d9c3177f8c1f83485cbfc83b5990..f439b72ab76855bea1622547d4437ee9013c1c20 100644
--- a/modules/perception/lidar/lib/map_manager/map_manager_test.cc
+++ b/modules/perception/lidar/lib/map_manager/map_manager_test.cc
@@ -32,9 +32,7 @@ TEST(LidarLibMapManagerTest, lidar_map_manager_empty_test) {
 
   FLAGS_work_root = "/apollo/modules/perception/testdata/lidar/lib/map_manager";
   FLAGS_config_manager_path = "./empty_conf";
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  config_manager->Reset();
+  lib::ConfigManager::Instance()->Reset();
 
   map::HDMapInput* hdmap_input =
       lib::Singleton<map::HDMapInput>::get_instance();
@@ -52,9 +50,7 @@ TEST(LidarLibMapManagerTest, lidar_map_manager_test) {
 
   FLAGS_work_root = "/apollo/modules/perception/testdata/lidar/lib/map_manager";
   FLAGS_config_manager_path = "./conf";
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  config_manager->Reset();
+  lib::ConfigManager::Instance()->Reset();
 
   map::HDMapInput* hdmap_input =
       lib::Singleton<map::HDMapInput>::get_instance();
diff --git a/modules/perception/lidar/lib/object_filter_bank/object_filter_bank.cc b/modules/perception/lidar/lib/object_filter_bank/object_filter_bank.cc
index 1e56769487ee54956e020ae12d608896b7ae117d..f01d0647e731d252e20ec3220360bf072f131a21 100644
--- a/modules/perception/lidar/lib/object_filter_bank/object_filter_bank.cc
+++ b/modules/perception/lidar/lib/object_filter_bank/object_filter_bank.cc
@@ -26,9 +26,7 @@ namespace perception {
 namespace lidar {
 
 bool ObjectFilterBank::Init(const ObjectFilterInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter/roi_boundary_filter.cc b/modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter/roi_boundary_filter.cc
index 0f8388987d67400a7ba5f701057046ef1647b235..f9a62f4545ba6560f57a293111429a94e24e142b 100644
--- a/modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter/roi_boundary_filter.cc
+++ b/modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter/roi_boundary_filter.cc
@@ -29,9 +29,7 @@ namespace lidar {
 using apollo::perception::base::PointD;
 
 bool ROIBoundaryFilter::Init(const ObjectFilterInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/pointcloud_preprocessor/pointcloud_preprocessor.cc b/modules/perception/lidar/lib/pointcloud_preprocessor/pointcloud_preprocessor.cc
index 9ac7d5754c34f039d32e1718871bf1c68220c9fa..a1652c933b7bd18a6d878a4166b9d15d44cdfeb1 100644
--- a/modules/perception/lidar/lib/pointcloud_preprocessor/pointcloud_preprocessor.cc
+++ b/modules/perception/lidar/lib/pointcloud_preprocessor/pointcloud_preprocessor.cc
@@ -33,9 +33,7 @@ const float PointCloudPreprocessor::kPointInfThreshold = 1e3;
 
 bool PointCloudPreprocessor::Init(
     const PointCloudPreprocessorInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter.cc b/modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter.cc
index b1f266909b3ecb11509a2297beed94bf1a736572..1570e045d9824f7aee445e9d60f3e8c3d5fea2d2 100644
--- a/modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter.cc
+++ b/modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter.cc
@@ -39,9 +39,7 @@ using Polygon = typename PolygonScanCvter<T>::Polygon;
 
 bool HdmapROIFilter::Init(const ROIFilterInitOptions& options) {
   // load model config
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/roi_filter/roi_service_filter/roi_service_filter_test.cc b/modules/perception/lidar/lib/roi_filter/roi_service_filter/roi_service_filter_test.cc
index fa40f0193d3a58aa5151fc8b68588f791c725390..1db82df18b175fb9360656e24a6a6b93f1b09b79 100644
--- a/modules/perception/lidar/lib/roi_filter/roi_service_filter/roi_service_filter_test.cc
+++ b/modules/perception/lidar/lib/roi_filter/roi_service_filter/roi_service_filter_test.cc
@@ -49,9 +49,7 @@ class LidarLibROIServiceFilterTest : public testing::Test {
     FLAGS_work_root = "/apollo/modules/perception/testdata/"
         "lidar/lib/roi_filter/roi_service_filter";
     FLAGS_config_manager_path = "./conf";
-    lib::ConfigManager* config_manager =
-        lib::Singleton<lib::ConfigManager>::get_instance();
-    config_manager->Reset();
+    lib::ConfigManager::Instance()->Reset();
 
     map::HDMapInput* hdmap_input =
         lib::Singleton<map::HDMapInput>::get_instance();
diff --git a/modules/perception/lidar/lib/scene_manager/ground_service/ground_service.cc b/modules/perception/lidar/lib/scene_manager/ground_service/ground_service.cc
index 758496518044c8f6464506cbb8e17381b76e2998..515c9542dc13d3a6c7a6d63cdf6c74309575e5cc 100644
--- a/modules/perception/lidar/lib/scene_manager/ground_service/ground_service.cc
+++ b/modules/perception/lidar/lib/scene_manager/ground_service/ground_service.cc
@@ -137,9 +137,7 @@ bool GroundService::Init(const SceneServiceInitOptions& options) {
       dynamic_cast<GroundServiceContent*>(self_content_.get());
   // initialize ground service content from config manager and proto
   // including resolution, grid size, ...
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config))
       << "Failed to get model config: SceneManager";
diff --git a/modules/perception/lidar/lib/scene_manager/roi_service/roi_service.cc b/modules/perception/lidar/lib/scene_manager/roi_service/roi_service.cc
index 82e2a41ca2fda8457d219f219fcd3aa4853ca053..b8f4f315655b7af6d9f047645fc3ebb42a4114e4 100644
--- a/modules/perception/lidar/lib/scene_manager/roi_service/roi_service.cc
+++ b/modules/perception/lidar/lib/scene_manager/roi_service/roi_service.cc
@@ -83,9 +83,7 @@ bool ROIServiceContent::Check(const Eigen::Vector3d& world_point) const {
 bool ROIService::Init(const SceneServiceInitOptions& options) {
   self_content_.reset(new ROIServiceContent);
   roi_content_ref_ = dynamic_cast<ROIServiceContent*>(self_content_.get());
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/scene_manager/scene_manager.cc b/modules/perception/lidar/lib/scene_manager/scene_manager.cc
index 7c7fdd9ed58915ffa72b38f8cfb8b435bd1f0df4..502152ad3b54ba83611224498d5a81a4218cb169 100644
--- a/modules/perception/lidar/lib/scene_manager/scene_manager.cc
+++ b/modules/perception/lidar/lib/scene_manager/scene_manager.cc
@@ -30,9 +30,7 @@ bool SceneManager::InitInternal(const SceneManagerInitOptions& options) {
   if (initialized_) {
     return true;
   }
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/scene_manager/scene_manager_test.cc b/modules/perception/lidar/lib/scene_manager/scene_manager_test.cc
index b3a427b307f3a340ff131e2b7c6a6db3112942c5..89c7406c1e071e4e51d5d99355bebcc5236d6d13 100644
--- a/modules/perception/lidar/lib/scene_manager/scene_manager_test.cc
+++ b/modules/perception/lidar/lib/scene_manager/scene_manager_test.cc
@@ -43,9 +43,7 @@ class LidarLibSceneManagerTest : public testing::Test {
     FLAGS_work_root =
         "/apollo/modules/perception/testdata/lidar/lib/scene_manager";
     FLAGS_config_manager_path = "./conf";
-    lib::ConfigManager* config_manager =
-        lib::Singleton<lib::ConfigManager>::get_instance();
-    config_manager->Reset();
+    lib::ConfigManager::Instance()->Reset();
 
     map::HDMapInput* hdmap_input =
         lib::Singleton<map::HDMapInput>::get_instance();
diff --git a/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc b/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc
index 9d261570dfeaacc9f2ec54040943019225ad5801..5038ad0b7b21cfec09fdb31d74351c77113641a4 100644
--- a/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc
+++ b/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc
@@ -425,9 +425,7 @@ bool CNNSegmentation::GetConfigs(std::string* param_file,
                                  std::string* proto_file,
                                  std::string* weight_file,
                                  std::string* engine_file) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig("CNNSegmentation", &model_config))
       << "Failed to get model config: CNNSegmentation";
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.cc
index a38af006bc2b224dbbf6e453c66ed5ea8bd8cc61..a5ce372c57adf22d64eda2bb557109abda661515 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_engine.cc
@@ -29,9 +29,7 @@ namespace perception {
 namespace lidar {
 
 bool MlfEngine::Init(const MultiTargetTrackerInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_filter.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_filter.cc
index d41a36fc176991edec6b65a2b220bc9851c8b1a5..4b8b774a6b34f23f935f20a50615f510c7a87604 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_filter.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_filter.cc
@@ -30,9 +30,7 @@ namespace perception {
 namespace lidar {
 
 bool MlfMotionFilter::Init(const MlfFilterInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_refiner.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_refiner.cc
index 7c70a85afac42bfc994d27e117851371d72a3a7e..9785646ff4c7d2ef615a80a6b5ffa8877d96c70f 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_refiner.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_motion_refiner.cc
@@ -29,9 +29,7 @@ namespace perception {
 namespace lidar {
 
 bool MlfMotionRefiner::Init(const MlfMotionRefinerInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_shape_filter.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_shape_filter.cc
index 95f575fdca100da2e8574dc2be2bba96d2307085..765fa3f2eee1fe77311ba902d517c74e2fbf9c2c 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_shape_filter.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_shape_filter.cc
@@ -28,9 +28,7 @@ namespace perception {
 namespace lidar {
 
 bool MlfShapeFilter::Init(const MlfFilterInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_distance.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_distance.cc
index 0ffeab8310a8d1a076bdf8c3b3cdcd44bae15925..5a36a3153bf4c5f3572c38fd354afaf976b73733 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_distance.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_distance.cc
@@ -41,9 +41,7 @@ const std::vector<float> MlfTrackObjectDistance::kBackgroundDefaultWeight = {
 
 bool MlfTrackObjectDistance::Init(
     const MlfTrackObjectDistanceInitOptions& options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_matcher.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_matcher.cc
index 208eedc3b0f1116de13f30b933a3a13ead1c8731..6e9d2da64a1b918db9e8b68e677aa57f810822ea 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_matcher.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_track_object_matcher.cc
@@ -29,9 +29,7 @@ namespace lidar {
 
 bool MlfTrackObjectMatcher::Init(
     const MlfTrackObjectMatcherInitOptions &options) {
-  lib::ConfigManager *config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig *model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_tracker.cc b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_tracker.cc
index 497f5d3b3a74f49253ec012f1db91fcffb415417..ed1d404687a6996ad40ec763014d4fb0c11f7f48 100644
--- a/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_tracker.cc
+++ b/modules/perception/lidar/lib/tracker/multi_lidar_fusion/mlf_tracker.cc
@@ -26,9 +26,7 @@ namespace perception {
 namespace lidar {
 
 bool MlfTracker::Init(const MlfTrackerInitOptions options) {
-  lib::ConfigManager* config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
+  auto& config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
diff --git a/modules/perception/lidar/tools/offline_lidar_obstacle_perception.cc b/modules/perception/lidar/tools/offline_lidar_obstacle_perception.cc
index 503f767861c07508f47a592888f5c6e59f081210..94541bb72f5183369475ff9ff858ceede5b85fe3 100644
--- a/modules/perception/lidar/tools/offline_lidar_obstacle_perception.cc
+++ b/modules/perception/lidar/tools/offline_lidar_obstacle_perception.cc
@@ -62,13 +62,8 @@ class OfflineLidarObstaclePerception {
 
   bool setup() {
     FLAGS_config_manager_path = "./conf";
-    config_manager_ = lib::Singleton<lib::ConfigManager>::get_instance();
-    if (config_manager_ == nullptr) {
-      AERROR << "Failed to get ConfigManager instance.";
-      return false;
-    }
-    if (!config_manager_->Init()) {
-      AERROR << "Failed to int ConfigManage.";
+    if (!lib::ConfigManager::Instance()->Init()) {
+      AERROR << "Failed to init ConfigManage.";
       return false;
     }
     lidar_segmentation_.reset(new LidarObstacleSegmentation);
@@ -325,7 +320,6 @@ class OfflineLidarObstaclePerception {
 
  protected:
   std::string output_dir_;
-  lib::ConfigManager* config_manager_ = nullptr;
   std::shared_ptr<LidarFrame> frame_;
   LidarObstacleSegmentationInitOptions segment_init_options_;
   LidarObstacleSegmentationOptions segment_options_;
diff --git a/modules/perception/map/hdmap/hdmap_input.cc b/modules/perception/map/hdmap/hdmap_input.cc
index 5033bba024f36a7051da7930aa63e43aab4d0520..980fd406c81b96a1977c51ce029c516819b3cc90 100644
--- a/modules/perception/map/hdmap/hdmap_input.cc
+++ b/modules/perception/map/hdmap/hdmap_input.cc
@@ -41,7 +41,6 @@ using apollo::hdmap::JunctionBoundaryPtr;
 using apollo::hdmap::LineBoundary;
 using apollo::hdmap::SignalInfoConstPtr;
 using apollo::hdmap::LaneInfoConstPtr;
-using lib::ConfigManager;
 using base::PolygonDType;
 
 using base::PointD;
@@ -74,12 +73,10 @@ bool HDMapInput::Reset() {
 
 bool HDMapInput::InitHDMap() {
   hdmap_.reset(new apollo::hdmap::HDMap());
-  ConfigManager* config_manager =
-  lib::Singleton<ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string model_name = "HDMapInput";
   const lib::ModelConfig* model_config = nullptr;
-  if (!config_manager->GetModelConfig(model_name, &model_config)) {
+  if (!lib::ConfigManager::Instance()->GetModelConfig(model_name,
+                                                      &model_config)) {
     AERROR << "not found model: " << model_name;
     return false;
   }
diff --git a/modules/perception/map/hdmap/hdmap_input_test.cc b/modules/perception/map/hdmap/hdmap_input_test.cc
index abab5a36b3b09e85ff65af71c2eb8975d856b365..0e4643bf2d75cf43c186c619d0c0c01c23cdc1eb 100644
--- a/modules/perception/map/hdmap/hdmap_input_test.cc
+++ b/modules/perception/map/hdmap/hdmap_input_test.cc
@@ -26,7 +26,6 @@ namespace apollo {
 namespace perception {
 namespace map {
 
-// using apollo::perception::lib::ConfigManager;
 // using adu::hdmap::JunctionInfo;
 // using adu::hdmap::JunctionInfoConstPtr;
 // using adu::hdmap::RoiRoadBoundaryPtr;
diff --git a/modules/perception/radar/app/radar_obstacle_perception.cc b/modules/perception/radar/app/radar_obstacle_perception.cc
index f53563198882488c8fd2775357366f3f33e47c6a..13492483fc642b9c59db3c10614255bf9c774a6e 100644
--- a/modules/perception/radar/app/radar_obstacle_perception.cc
+++ b/modules/perception/radar/app/radar_obstacle_perception.cc
@@ -29,11 +29,9 @@ namespace perception {
 namespace radar {
 
 bool RadarObstaclePerception::Init(const std::string& pipeline_name) {
-  ConfigManager* config_manager = lib::Singleton<ConfigManager>::get_instance();
-  CHECK_NOTNULL(config_manager);
   std::string model_name = pipeline_name;
   const ModelConfig* model_config = nullptr;
-  CHECK(config_manager->GetModelConfig(model_name, &model_config))
+  CHECK(ConfigManager::Instance()->GetModelConfig(model_name, &model_config))
         << "not found model: " << model_name;
 
   std::string detector_name;
diff --git a/modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/conti_ars_preprocessor.cc b/modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/conti_ars_preprocessor.cc
index b02a51ffb57fa1ccca10d6bf31e3d8180f1ffd1e..7a3108774796bed5e8fcd9f37d810a7356ebf4ae 100644
--- a/modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/conti_ars_preprocessor.cc
+++ b/modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/conti_ars_preprocessor.cc
@@ -24,11 +24,10 @@ int ContiArsPreprocessor::current_idx_ = 0;
 int ContiArsPreprocessor::local2global_[ORIGIN_CONTI_MAX_ID_NUM] = {0};
 
 bool ContiArsPreprocessor::Init() {
-  lib::ConfigManager* config_manager
-                 = lib::Singleton<lib::ConfigManager>::get_instance();
   std::string model_name = "ContiArsPreprocessor";
   const lib::ModelConfig* model_config = nullptr;
-  CHECK(config_manager->GetModelConfig(model_name, &model_config));
+  CHECK(lib::ConfigManager::Instance()->GetModelConfig(model_name,
+                                                       &model_config));
   CHECK(model_config->get_value("delay_time", &delay_time_));
   return true;
 }
diff --git a/modules/perception/radar/lib/tracker/conti_ars_tracker/conti_ars_tracker.cc b/modules/perception/radar/lib/tracker/conti_ars_tracker/conti_ars_tracker.cc
index 839c3f52efd3dbc6bea710995ba213597e8d7629..b2b3170aa3216d09083be6df9262287ebee1b88f 100644
--- a/modules/perception/radar/lib/tracker/conti_ars_tracker/conti_ars_tracker.cc
+++ b/modules/perception/radar/lib/tracker/conti_ars_tracker/conti_ars_tracker.cc
@@ -36,12 +36,11 @@ ContiArsTracker::~ContiArsTracker() {
 }
 
 bool ContiArsTracker::Init() {
-  lib::ConfigManager *config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
   std::string model_name = name_;
   const lib::ModelConfig *model_config = nullptr;
   bool state = true;
-  if (!config_manager->GetModelConfig(model_name, &model_config)) {
+  if (!lib::ConfigManager::Instance()->GetModelConfig(model_name,
+                                                      &model_config)) {
     AERROR << "not found model: " << model_name;
     state = false;
   }
diff --git a/modules/perception/radar/lib/tracker/matcher/hm_matcher.cc b/modules/perception/radar/lib/tracker/matcher/hm_matcher.cc
index db907a8530b74b37f48e6b97ca359aa6793faa01..8268d1187ac9f9b6c7dfa10c40822aadcb4e51ce 100644
--- a/modules/perception/radar/lib/tracker/matcher/hm_matcher.cc
+++ b/modules/perception/radar/lib/tracker/matcher/hm_matcher.cc
@@ -14,9 +14,11 @@
 * limitations under the License.
 *****************************************************************************/
 #include "modules/perception/radar/lib/tracker/matcher/hm_matcher.h"
+
+#include <iomanip>
 #include <string>
 #include <utility>
-#include <iomanip>
+
 #include "cyber/common/log.h"
 #include "modules/common/util/file.h"
 #include "modules/perception/lib/io/file_util.h"
@@ -25,11 +27,13 @@
 namespace apollo {
 namespace perception {
 namespace radar {
+
 HMMatcher::HMMatcher() { name_ = "HMMatcher"; }
+
 HMMatcher::~HMMatcher() {}
+
 bool HMMatcher::Init() {
-  lib::ConfigManager *config_manager =
-      lib::Singleton<lib::ConfigManager>::get_instance();
+  auto& config_manager = lib::ConfigManager::Instance();
   std::string model_name = name_;
   const lib::ModelConfig *model_config = nullptr;
   AINFO << "matcher name: " << name_;