diff --git a/modules/perception/lib/base/BUILD b/modules/perception/lib/base/BUILD
index 64ab60aa0cdea30194300af4f61fe3b9ffef88f2..c2dc06c279de91069735de1ab16002d31fae457e 100644
--- a/modules/perception/lib/base/BUILD
+++ b/modules/perception/lib/base/BUILD
@@ -22,6 +22,7 @@ cc_library(
     deps = [
         "//modules/common",
         "//modules/common:log",
+        "@gtest//:gtest",
     ],
 )
 
diff --git a/modules/perception/lib/base/registerer.h b/modules/perception/lib/base/registerer.h
index 3184ce7fab6f81132039076e9d2f9d1a052a4d75..6b8bd9aa80b5da7f26d027cd60a5b62c5f1655b2 100644
--- a/modules/perception/lib/base/registerer.h
+++ b/modules/perception/lib/base/registerer.h
@@ -57,6 +57,8 @@
 #include <string>
 #include <vector>
 
+#include "gtest/gtest_prod.h"
+
 #include "modules/common/log.h"
 #include "modules/common/macro.h"
 
@@ -105,6 +107,8 @@ class Any {
   };
 
   PlaceHolder *content_;
+
+  FRIEND_TEST(ObjectFactoryTest, test_ObjectFactory);
 };
 
 class ObjectFactory {
diff --git a/modules/perception/lib/base/registerer_test.cc b/modules/perception/lib/base/registerer_test.cc
index 91d8b338040fea700ad83ef541846a610fd2d33c..61ed89171b386398c17b0a3a9c29a942022ea5e3 100644
--- a/modules/perception/lib/base/registerer_test.cc
+++ b/modules/perception/lib/base/registerer_test.cc
@@ -16,7 +16,6 @@
 
 #include "gtest/gtest.h"
 
-#define private public
 #include "modules/perception/lib/base/registerer.h"
 
 namespace apollo {
diff --git a/modules/perception/obstacle/onboard/BUILD b/modules/perception/obstacle/onboard/BUILD
index 4c30f70e5abd86c2e39e753f12ca74f3b4f8cd54..f0ae6fadb202128c6c363433ec2c22d42e699410 100644
--- a/modules/perception/obstacle/onboard/BUILD
+++ b/modules/perception/obstacle/onboard/BUILD
@@ -15,6 +15,7 @@ cc_library(
         "//modules/perception/lib/pcl_util",
         "//modules/perception/obstacle/base:perception_obstacle_base",
         "@eigen//:eigen",
+        "@gtest//:gtest",
     ],
 )
 
@@ -38,6 +39,7 @@ cc_library(
         "//modules/perception/obstacle/lidar/segmentation/cnnseg:perception_obstacle_lidar_segmention_cnnseg",
         "//modules/perception/obstacle/lidar/tracker/hm_tracker:perception_obstacle_lidar_tracker_hm_tracker",
         "@eigen//:eigen",
+        "@gtest//:gtest",
         "@ros//:ros_common",
     ],
 )
diff --git a/modules/perception/obstacle/onboard/hdmap_input.h b/modules/perception/obstacle/onboard/hdmap_input.h
index 6cb50608a12bbdbbec1e071dff07ef4ef0c65de8..310fbd42f9bc9828e65fd0cb2ada48808415b526 100644
--- a/modules/perception/obstacle/onboard/hdmap_input.h
+++ b/modules/perception/obstacle/onboard/hdmap_input.h
@@ -18,6 +18,9 @@
 #define MODULES_PERCEPTION_ONBOARD_HDMAP_INPUT_H_
 
 #include <mutex>
+
+#include "gtest/gtest_prod.h"
+
 #include "modules/common/macro.h"
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/perception/lib/base/singleton.h"
@@ -56,6 +59,9 @@ class HDMapInput {
   std::unique_ptr<apollo::hdmap::HDMap> hdmap_;
 
   DISALLOW_COPY_AND_ASSIGN(HDMapInput);
+
+  FRIEND_TEST(HDMapInputTest, test_Init);
+  FRIEND_TEST(HDMapInputTest, test_GetROI);
 };
 
 typedef typename std::shared_ptr<HDMapInput> HDMapInputPtr;
diff --git a/modules/perception/obstacle/onboard/hdmap_input_test.cc b/modules/perception/obstacle/onboard/hdmap_input_test.cc
index 23bd508835ef35b9d64ec7d2e392b31c51662b47..d4ecbf1d26650c179ca123af67211835dc91b9b0 100644
--- a/modules/perception/obstacle/onboard/hdmap_input_test.cc
+++ b/modules/perception/obstacle/onboard/hdmap_input_test.cc
@@ -19,7 +19,6 @@
 #include "modules/common/log.h"
 #include "modules/perception/common/perception_gflags.h"
 
-#define private public
 #include "modules/perception/obstacle/onboard/hdmap_input.h"
 
 namespace apollo {
@@ -36,7 +35,6 @@ class HDMapInputTest : public testing::Test {
     ASSERT_TRUE(hdmap_input_ != NULL);
   }
 
- private:
   HDMapInput* hdmap_input_;
 };
 
diff --git a/modules/perception/obstacle/onboard/lidar_process.h b/modules/perception/obstacle/onboard/lidar_process.h
index bfb2dc01a6971a6624668f7353a87aede4073905..48565fcc2307d12a03e12532546805425e672cf0 100644
--- a/modules/perception/obstacle/onboard/lidar_process.h
+++ b/modules/perception/obstacle/onboard/lidar_process.h
@@ -18,6 +18,8 @@
 #define MODEULES_PERCEPTION_OBSTACLE_ONBOARD_LIDAR_PROCESS_H_
 
 #include "Eigen/Core"
+#include "gtest/gtest_prod.h"
+
 #include "modules/perception/lib/pcl_util/pcl_types.h"
 #include "modules/perception/obstacle/base/object.h"
 #include "modules/perception/obstacle/lidar/interface/base_object_builder.h"
@@ -75,6 +77,10 @@ class LidarProcess {
   std::unique_ptr<BaseObjectBuilder> object_builder_;
   std::unique_ptr<BaseTracker> tracker_;
   pcl_util::PointIndicesPtr roi_indices_;
+
+  FRIEND_TEST(LidarProcessTest, test_Init);
+  FRIEND_TEST(LidarProcessTest, test_Process);
+  FRIEND_TEST(LidarProcessTest, test_GeneratePbMsg);
 };
 
 }  // namespace perception
diff --git a/modules/perception/obstacle/onboard/lidar_process_test.cc b/modules/perception/obstacle/onboard/lidar_process_test.cc
index 10d770ec3ba0faecbce1a5bf83a6fe47740a25a1..140744fc9d3c566e391640f93b829225c175280e 100644
--- a/modules/perception/obstacle/onboard/lidar_process_test.cc
+++ b/modules/perception/obstacle/onboard/lidar_process_test.cc
@@ -21,8 +21,6 @@
 #include "modules/perception/common/perception_gflags.h"
 #include "modules/perception/lib/pcl_util/pcl_types.h"
 #include "modules/perception/obstacle/lidar/dummy/dummy_algorithms.h"
-
-#define private public
 #include "modules/perception/obstacle/onboard/lidar_process.h"
 
 namespace apollo {
@@ -38,11 +36,7 @@ class LidarProcessTest : public testing::Test {
  protected:
   LidarProcessTest() {}
   virtual ~LidarProcessTest() {}
-  virtual void SetUp() {
-    lidar_process_.RegistAllAlgorithm();
-  }
 
- private:
   LidarProcess lidar_process_;
 };
 
diff --git a/modules/tools/map_tool/map_xysl.cc b/modules/tools/map_tool/map_xysl.cc
index 1faf9553eb3e1a7070bda7a918d6834e2af45afc..1e15daed3284c3e0009d71ec7f022bdb14df862c 100644
--- a/modules/tools/map_tool/map_xysl.cc
+++ b/modules/tools/map_tool/map_xysl.cc
@@ -19,7 +19,6 @@
 #include <fstream>
 #include "gflags/gflags.h"
 
-#define private public
 #include "modules/map/proto/map_geometry.pb.h"
 #include "modules/common/log.h"
 #include "modules/map/hdmap/hdmap_common.h"