diff --git a/bj-rtss-message b/bj-rtss-message
index 1a75420..099d395 160000
--- a/bj-rtss-message
+++ b/bj-rtss-message
@@ -1 +1 @@
-Subproject commit 1a75420f049a7b5838d9024a3abb1b9c2e7b7074
+Subproject commit 099d39589833465c09f01d83cd31d3f063b43089
diff --git a/config/config.go b/config/config.go
index 9064446..ceb75ce 100644
--- a/config/config.go
+++ b/config/config.go
@@ -70,6 +70,7 @@ type ThridPartyConfig struct {
 	BtmCanet          BtmCanetConfig          `json:"btmCanet" description:"BTM关联的网关设备CANET配置"`
 	CidcModbus        []CidcModbusConfig      `json:"cidcModbus" description:"联锁驱采Modbus接口配置"`
 	Radar             RadarConfig             `json:"radar" description:"车载雷达相关配置"`
+	Acc               AccConfig               `json:"acc" description:"车载加速计"`
 }
 type RadarConfig struct {
 	Open       bool   `json:"open" description:"是否开启"`
@@ -77,6 +78,12 @@ type RadarConfig struct {
 	RemotePort uint32 `json:"remotePort" description:"远端接收列车信息端口"`
 	//LocalPort  uint32 `json:"localPort" description:"本地端口"`
 }
+
+type AccConfig struct {
+	Open       bool   `json:"open" description:"是否开启"`
+	RemoteIp   string `json:"remoteIp" description:"远端接收列车信息ip"`
+	RemotePort uint32 `json:"remotePort" description:"远端接收列车信息端口"`
+}
 type CidcModbusConfig struct {
 	Open       bool                  `json:"open" description:"是否开启"`
 	Url        string                `json:"url" description:"接口URL【格式tcp://{ip}:{port}】" default:"tcp://127.0.0.1:502"` // 连接地址
diff --git a/docs/docs.go b/docs/docs.go
index 29e1619..5761b80 100644
--- a/docs/docs.go
+++ b/docs/docs.go
@@ -2649,26 +2649,15 @@ const docTemplate = `{
                         "required": true
                     },
                     {
-                        "type": "integer",
-                        "description": "草稿数据的id",
-                        "name": "draftId",
-                        "in": "query"
-                    },
-                    {
-                        "type": "boolean",
-                        "description": "强制覆盖",
-                        "name": "force",
+                        "type": "string",
+                        "description": "厂商",
+                        "name": "category",
                         "in": "query"
                     },
                     {
                         "type": "string",
-                        "description": "发布后的名称",
-                        "name": "name",
-                        "in": "query"
-                    },
-                    {
-                        "type": "string",
-                        "name": "note",
+                        "description": "草稿名称",
+                        "name": "draftName",
                         "in": "query"
                     }
                 ],
@@ -5106,6 +5095,14 @@ const docTemplate = `{
                     "description": "应答器ID",
                     "type": "integer"
                 },
+                "fixedTelegram": {
+                    "description": "固定报文（16进制字符串）",
+                    "type": "string"
+                },
+                "fixedUserTelegram": {
+                    "description": "固定用户报文（16进制字符串）",
+                    "type": "string"
+                },
                 "mapId": {
                     "description": "地图ID",
                     "type": "integer"
@@ -5114,8 +5111,12 @@ const docTemplate = `{
                     "description": "仿真ID",
                     "type": "string"
                 },
-                "telegram": {
-                    "description": "报文（16进制字符串）",
+                "variableTelegram": {
+                    "description": "可变报文",
+                    "type": "string"
+                },
+                "variableUserTelegram": {
+                    "description": "可变用户报文",
                     "type": "string"
                 }
             }
@@ -5250,6 +5251,18 @@ const docTemplate = `{
         "dto.ConfigTrainEnds": {
             "type": "object",
             "properties": {
+                "accCheckSpeedDiff": {
+                    "description": "加速计速度差",
+                    "type": "number"
+                },
+                "accCheckTime": {
+                    "description": "加速计储蓄时间",
+                    "type": "integer"
+                },
+                "accEnable": {
+                    "description": "加速计是否有效",
+                    "type": "boolean"
+                },
                 "radarCheckSpeedDiff": {
                     "description": "雷达测速数值",
                     "type": "number"
@@ -6067,21 +6080,10 @@ const docTemplate = `{
         "request_proto.PsdOperationReq": {
             "type": "object",
             "properties": {
-                "asdCodes": {
-                    "description": "无法关闭/无法开启故障涉及的滑动门的编号",
-                    "type": "array",
-                    "items": {
-                        "type": "integer"
-                    }
-                },
                 "deviceId": {
                     "description": "设备id",
                     "type": "integer"
                 },
-                "group": {
-                    "description": "开门操作的编组",
-                    "type": "integer"
-                },
                 "mapId": {
                     "description": "图id",
                     "type": "integer"
@@ -6094,66 +6096,93 @@ const docTemplate = `{
                         }
                     ]
                 },
+                "param": {
+                    "description": "屏蔽门参数,当operation为SetParams时有效",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/request_proto.PsdParam"
+                        }
+                    ]
+                },
                 "simulationId": {
                     "description": "仿真id",
                     "type": "string"
                 }
             }
         },
-        "request_proto.Psd_Operation": {
+        "request_proto.PsdParam": {
+            "type": "object",
+            "properties": {
+                "asdCodes": {
+                    "description": "涉及的滑动门的编号",
+                    "type": "array",
+                    "items": {
+                        "type": "integer"
+                    }
+                },
+                "fault": {
+                    "description": "屏蔽门故障设置",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/request_proto.Psd_Fault"
+                        }
+                    ]
+                },
+                "force": {
+                    "description": "屏蔽门强制设置",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/request_proto.Psd_Force"
+                        }
+                    ]
+                }
+            }
+        },
+        "request_proto.Psd_Fault": {
+            "type": "integer",
+            "enum": [
+                0,
+                1
+            ],
+            "x-enum-comments": {
+                "Psd_FA_NONE": "无故障",
+                "Psd_FA_Obstacle": "设置故障物"
+            },
+            "x-enum-varnames": [
+                "Psd_FA_NONE",
+                "Psd_FA_Obstacle"
+            ]
+        },
+        "request_proto.Psd_Force": {
             "type": "integer",
             "enum": [
                 0,
                 1,
-                2,
-                3,
-                4,
-                5,
-                6,
-                10,
-                11,
-                12,
-                13,
-                14,
-                15,
-                16,
-                17,
-                18
+                2
             ],
             "x-enum-comments": {
-                "Psd_AsdCannotClose": "滑动门无法关闭",
-                "Psd_AsdCannotOpen": "滑动门无法开门",
-                "Psd_CancelAsdCannotClose": "取消滑动门无法关闭",
-                "Psd_CancelAsdCannotOpen": "取消滑动门无法开门",
-                "Psd_CancelForce": "取消强制",
-                "Psd_CancelGm": "取消关门",
-                "Psd_CancelKm": "取消开门",
-                "Psd_CancelQDTC": "取消启动探测",
-                "Psd_CancelTZTC": "取消停止探测",
-                "Psd_ForceGm": "强制关门",
-                "Psd_ForceKm": "强制开门",
-                "Psd_Gm": "关门",
-                "Psd_Km": "开门",
-                "Psd_QDTC": "启动探测",
-                "Psd_TZTC": "停止探测"
+                "Psd_F_ASD_GM": "滑动门强制关门",
+                "Psd_F_ASD_KM": "滑动门强制开门",
+                "Psd_F_NONE": "无强制"
+            },
+            "x-enum-varnames": [
+                "Psd_F_NONE",
+                "Psd_F_ASD_KM",
+                "Psd_F_ASD_GM"
+            ]
+        },
+        "request_proto.Psd_Operation": {
+            "type": "integer",
+            "enum": [
+                0,
+                1
+            ],
+            "x-enum-comments": {
+                "Psd_SetParams": "设置参数"
             },
             "x-enum-varnames": [
                 "Psd_Undefined",
-                "Psd_Km",
-                "Psd_CancelKm",
-                "Psd_Gm",
-                "Psd_CancelGm",
-                "Psd_ForceKm",
-                "Psd_ForceGm",
-                "Psd_CancelForce",
-                "Psd_AsdCannotOpen",
-                "Psd_CancelAsdCannotOpen",
-                "Psd_AsdCannotClose",
-                "Psd_CancelAsdCannotClose",
-                "Psd_QDTC",
-                "Psd_CancelQDTC",
-                "Psd_TZTC",
-                "Psd_CancelTZTC"
+                "Psd_SetParams"
             ]
         },
         "request_proto.Section_Operation": {
@@ -6161,26 +6190,17 @@ const docTemplate = `{
             "enum": [
                 0,
                 1,
-                2,
-                3,
-                4,
-                5
+                4
             ],
             "x-enum-comments": {
-                "Section_CancelDrst": "取消计轴直接复位",
-                "Section_CancelFaultOcc": "取消故障占用",
-                "Section_CancelPdrst": "取消计轴预复位",
-                "Section_SetDrst": "设置计轴直接复位",
                 "Section_SetFaultOcc": "设置故障占用",
-                "Section_SetPdrst": "设置计轴预复位"
+                "Section_SetParams": "设置参数",
+                "Section_Undefined": "未定义"
             },
             "x-enum-varnames": [
-                "Section_SetDrst",
-                "Section_CancelDrst",
-                "Section_SetPdrst",
-                "Section_CancelPdrst",
-                "Section_SetFaultOcc",
-                "Section_CancelFaultOcc"
+                "Section_Undefined",
+                "Section_SetParams",
+                "Section_SetFaultOcc"
             ]
         },
         "request_proto.SignalOperationReq": {
diff --git a/docs/swagger.json b/docs/swagger.json
index ec6d931..323209d 100644
--- a/docs/swagger.json
+++ b/docs/swagger.json
@@ -2643,26 +2643,15 @@
                         "required": true
                     },
                     {
-                        "type": "integer",
-                        "description": "草稿数据的id",
-                        "name": "draftId",
-                        "in": "query"
-                    },
-                    {
-                        "type": "boolean",
-                        "description": "强制覆盖",
-                        "name": "force",
+                        "type": "string",
+                        "description": "厂商",
+                        "name": "category",
                         "in": "query"
                     },
                     {
                         "type": "string",
-                        "description": "发布后的名称",
-                        "name": "name",
-                        "in": "query"
-                    },
-                    {
-                        "type": "string",
-                        "name": "note",
+                        "description": "草稿名称",
+                        "name": "draftName",
                         "in": "query"
                     }
                 ],
@@ -5100,6 +5089,14 @@
                     "description": "应答器ID",
                     "type": "integer"
                 },
+                "fixedTelegram": {
+                    "description": "固定报文（16进制字符串）",
+                    "type": "string"
+                },
+                "fixedUserTelegram": {
+                    "description": "固定用户报文（16进制字符串）",
+                    "type": "string"
+                },
                 "mapId": {
                     "description": "地图ID",
                     "type": "integer"
@@ -5108,8 +5105,12 @@
                     "description": "仿真ID",
                     "type": "string"
                 },
-                "telegram": {
-                    "description": "报文（16进制字符串）",
+                "variableTelegram": {
+                    "description": "可变报文",
+                    "type": "string"
+                },
+                "variableUserTelegram": {
+                    "description": "可变用户报文",
                     "type": "string"
                 }
             }
@@ -5244,6 +5245,18 @@
         "dto.ConfigTrainEnds": {
             "type": "object",
             "properties": {
+                "accCheckSpeedDiff": {
+                    "description": "加速计速度差",
+                    "type": "number"
+                },
+                "accCheckTime": {
+                    "description": "加速计储蓄时间",
+                    "type": "integer"
+                },
+                "accEnable": {
+                    "description": "加速计是否有效",
+                    "type": "boolean"
+                },
                 "radarCheckSpeedDiff": {
                     "description": "雷达测速数值",
                     "type": "number"
@@ -6061,21 +6074,10 @@
         "request_proto.PsdOperationReq": {
             "type": "object",
             "properties": {
-                "asdCodes": {
-                    "description": "无法关闭/无法开启故障涉及的滑动门的编号",
-                    "type": "array",
-                    "items": {
-                        "type": "integer"
-                    }
-                },
                 "deviceId": {
                     "description": "设备id",
                     "type": "integer"
                 },
-                "group": {
-                    "description": "开门操作的编组",
-                    "type": "integer"
-                },
                 "mapId": {
                     "description": "图id",
                     "type": "integer"
@@ -6088,66 +6090,93 @@
                         }
                     ]
                 },
+                "param": {
+                    "description": "屏蔽门参数,当operation为SetParams时有效",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/request_proto.PsdParam"
+                        }
+                    ]
+                },
                 "simulationId": {
                     "description": "仿真id",
                     "type": "string"
                 }
             }
         },
-        "request_proto.Psd_Operation": {
+        "request_proto.PsdParam": {
+            "type": "object",
+            "properties": {
+                "asdCodes": {
+                    "description": "涉及的滑动门的编号",
+                    "type": "array",
+                    "items": {
+                        "type": "integer"
+                    }
+                },
+                "fault": {
+                    "description": "屏蔽门故障设置",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/request_proto.Psd_Fault"
+                        }
+                    ]
+                },
+                "force": {
+                    "description": "屏蔽门强制设置",
+                    "allOf": [
+                        {
+                            "$ref": "#/definitions/request_proto.Psd_Force"
+                        }
+                    ]
+                }
+            }
+        },
+        "request_proto.Psd_Fault": {
+            "type": "integer",
+            "enum": [
+                0,
+                1
+            ],
+            "x-enum-comments": {
+                "Psd_FA_NONE": "无故障",
+                "Psd_FA_Obstacle": "设置故障物"
+            },
+            "x-enum-varnames": [
+                "Psd_FA_NONE",
+                "Psd_FA_Obstacle"
+            ]
+        },
+        "request_proto.Psd_Force": {
             "type": "integer",
             "enum": [
                 0,
                 1,
-                2,
-                3,
-                4,
-                5,
-                6,
-                10,
-                11,
-                12,
-                13,
-                14,
-                15,
-                16,
-                17,
-                18
+                2
             ],
             "x-enum-comments": {
-                "Psd_AsdCannotClose": "滑动门无法关闭",
-                "Psd_AsdCannotOpen": "滑动门无法开门",
-                "Psd_CancelAsdCannotClose": "取消滑动门无法关闭",
-                "Psd_CancelAsdCannotOpen": "取消滑动门无法开门",
-                "Psd_CancelForce": "取消强制",
-                "Psd_CancelGm": "取消关门",
-                "Psd_CancelKm": "取消开门",
-                "Psd_CancelQDTC": "取消启动探测",
-                "Psd_CancelTZTC": "取消停止探测",
-                "Psd_ForceGm": "强制关门",
-                "Psd_ForceKm": "强制开门",
-                "Psd_Gm": "关门",
-                "Psd_Km": "开门",
-                "Psd_QDTC": "启动探测",
-                "Psd_TZTC": "停止探测"
+                "Psd_F_ASD_GM": "滑动门强制关门",
+                "Psd_F_ASD_KM": "滑动门强制开门",
+                "Psd_F_NONE": "无强制"
+            },
+            "x-enum-varnames": [
+                "Psd_F_NONE",
+                "Psd_F_ASD_KM",
+                "Psd_F_ASD_GM"
+            ]
+        },
+        "request_proto.Psd_Operation": {
+            "type": "integer",
+            "enum": [
+                0,
+                1
+            ],
+            "x-enum-comments": {
+                "Psd_SetParams": "设置参数"
             },
             "x-enum-varnames": [
                 "Psd_Undefined",
-                "Psd_Km",
-                "Psd_CancelKm",
-                "Psd_Gm",
-                "Psd_CancelGm",
-                "Psd_ForceKm",
-                "Psd_ForceGm",
-                "Psd_CancelForce",
-                "Psd_AsdCannotOpen",
-                "Psd_CancelAsdCannotOpen",
-                "Psd_AsdCannotClose",
-                "Psd_CancelAsdCannotClose",
-                "Psd_QDTC",
-                "Psd_CancelQDTC",
-                "Psd_TZTC",
-                "Psd_CancelTZTC"
+                "Psd_SetParams"
             ]
         },
         "request_proto.Section_Operation": {
@@ -6155,26 +6184,17 @@
             "enum": [
                 0,
                 1,
-                2,
-                3,
-                4,
-                5
+                4
             ],
             "x-enum-comments": {
-                "Section_CancelDrst": "取消计轴直接复位",
-                "Section_CancelFaultOcc": "取消故障占用",
-                "Section_CancelPdrst": "取消计轴预复位",
-                "Section_SetDrst": "设置计轴直接复位",
                 "Section_SetFaultOcc": "设置故障占用",
-                "Section_SetPdrst": "设置计轴预复位"
+                "Section_SetParams": "设置参数",
+                "Section_Undefined": "未定义"
             },
             "x-enum-varnames": [
-                "Section_SetDrst",
-                "Section_CancelDrst",
-                "Section_SetPdrst",
-                "Section_CancelPdrst",
-                "Section_SetFaultOcc",
-                "Section_CancelFaultOcc"
+                "Section_Undefined",
+                "Section_SetParams",
+                "Section_SetFaultOcc"
             ]
         },
         "request_proto.SignalOperationReq": {
diff --git a/docs/swagger.yaml b/docs/swagger.yaml
index 9579750..7253eca 100644
--- a/docs/swagger.yaml
+++ b/docs/swagger.yaml
@@ -133,14 +133,23 @@ definitions:
       baliseId:
         description: 应答器ID
         type: integer
+      fixedTelegram:
+        description: 固定报文（16进制字符串）
+        type: string
+      fixedUserTelegram:
+        description: 固定用户报文（16进制字符串）
+        type: string
       mapId:
         description: 地图ID
         type: integer
       simulationId:
         description: 仿真ID
         type: string
-      telegram:
-        description: 报文（16进制字符串）
+      variableTelegram:
+        description: 可变报文
+        type: string
+      variableUserTelegram:
+        description: 可变用户报文
         type: string
     type: object
   dto.BaliseMoveReqDto:
@@ -234,6 +243,15 @@ definitions:
     type: object
   dto.ConfigTrainEnds:
     properties:
+      accCheckSpeedDiff:
+        description: 加速计速度差
+        type: number
+      accCheckTime:
+        description: 加速计储蓄时间
+        type: integer
+      accEnable:
+        description: 加速计是否有效
+        type: boolean
       radarCheckSpeedDiff:
         description: 雷达测速数值
         type: number
@@ -795,71 +813,46 @@ definitions:
         - $ref: '#/definitions/request_proto.Points_Force'
         description: 道岔强制
     type: object
-  request_proto.Psd_Operation:
+  request_proto.Psd_Fault:
+    enum:
+    - 0
+    - 1
+    type: integer
+    x-enum-comments:
+      Psd_FA_NONE: 无故障
+      Psd_FA_Obstacle: 设置故障物
+    x-enum-varnames:
+    - Psd_FA_NONE
+    - Psd_FA_Obstacle
+  request_proto.Psd_Force:
     enum:
     - 0
     - 1
     - 2
-    - 3
-    - 4
-    - 5
-    - 6
-    - 10
-    - 11
-    - 12
-    - 13
-    - 14
-    - 15
-    - 16
-    - 17
-    - 18
     type: integer
     x-enum-comments:
-      Psd_AsdCannotClose: 滑动门无法关闭
-      Psd_AsdCannotOpen: 滑动门无法开门
-      Psd_CancelAsdCannotClose: 取消滑动门无法关闭
-      Psd_CancelAsdCannotOpen: 取消滑动门无法开门
-      Psd_CancelForce: 取消强制
-      Psd_CancelGm: 取消关门
-      Psd_CancelKm: 取消开门
-      Psd_CancelQDTC: 取消启动探测
-      Psd_CancelTZTC: 取消停止探测
-      Psd_ForceGm: 强制关门
-      Psd_ForceKm: 强制开门
-      Psd_Gm: 关门
-      Psd_Km: 开门
-      Psd_QDTC: 启动探测
-      Psd_TZTC: 停止探测
+      Psd_F_ASD_GM: 滑动门强制关门
+      Psd_F_ASD_KM: 滑动门强制开门
+      Psd_F_NONE: 无强制
+    x-enum-varnames:
+    - Psd_F_NONE
+    - Psd_F_ASD_KM
+    - Psd_F_ASD_GM
+  request_proto.Psd_Operation:
+    enum:
+    - 0
+    - 1
+    type: integer
+    x-enum-comments:
+      Psd_SetParams: 设置参数
     x-enum-varnames:
     - Psd_Undefined
-    - Psd_Km
-    - Psd_CancelKm
-    - Psd_Gm
-    - Psd_CancelGm
-    - Psd_ForceKm
-    - Psd_ForceGm
-    - Psd_CancelForce
-    - Psd_AsdCannotOpen
-    - Psd_CancelAsdCannotOpen
-    - Psd_AsdCannotClose
-    - Psd_CancelAsdCannotClose
-    - Psd_QDTC
-    - Psd_CancelQDTC
-    - Psd_TZTC
-    - Psd_CancelTZTC
+    - Psd_SetParams
   request_proto.PsdOperationReq:
     properties:
-      asdCodes:
-        description: 无法关闭/无法开启故障涉及的滑动门的编号
-        items:
-          type: integer
-        type: array
       deviceId:
         description: 设备id
         type: integer
-      group:
-        description: 开门操作的编组
-        type: integer
       mapId:
         description: 图id
         type: integer
@@ -867,33 +860,44 @@ definitions:
         allOf:
         - $ref: '#/definitions/request_proto.Psd_Operation'
         description: 操作
+      param:
+        allOf:
+        - $ref: '#/definitions/request_proto.PsdParam'
+        description: 屏蔽门参数,当operation为SetParams时有效
       simulationId:
         description: 仿真id
         type: string
     type: object
+  request_proto.PsdParam:
+    properties:
+      asdCodes:
+        description: 涉及的滑动门的编号
+        items:
+          type: integer
+        type: array
+      fault:
+        allOf:
+        - $ref: '#/definitions/request_proto.Psd_Fault'
+        description: 屏蔽门故障设置
+      force:
+        allOf:
+        - $ref: '#/definitions/request_proto.Psd_Force'
+        description: 屏蔽门强制设置
+    type: object
   request_proto.Section_Operation:
     enum:
     - 0
     - 1
-    - 2
-    - 3
     - 4
-    - 5
     type: integer
     x-enum-comments:
-      Section_CancelDrst: 取消计轴直接复位
-      Section_CancelFaultOcc: 取消故障占用
-      Section_CancelPdrst: 取消计轴预复位
-      Section_SetDrst: 设置计轴直接复位
       Section_SetFaultOcc: 设置故障占用
-      Section_SetPdrst: 设置计轴预复位
+      Section_SetParams: 设置参数
+      Section_Undefined: 未定义
     x-enum-varnames:
-    - Section_SetDrst
-    - Section_CancelDrst
-    - Section_SetPdrst
-    - Section_CancelPdrst
+    - Section_Undefined
+    - Section_SetParams
     - Section_SetFaultOcc
-    - Section_CancelFaultOcc
   request_proto.Signal_DS:
     enum:
     - 0
@@ -2722,20 +2726,13 @@ paths:
         name: id
         required: true
         type: integer
-      - description: 草稿数据的id
+      - description: 厂商
         in: query
-        name: draftId
-        type: integer
-      - description: 强制覆盖
-        in: query
-        name: force
-        type: boolean
-      - description: 发布后的名称
-        in: query
-        name: name
+        name: category
         type: string
-      - in: query
-        name: note
+      - description: 草稿名称
+        in: query
+        name: draftName
         type: string
       produces:
       - application/json
diff --git a/dto/common_proto/common_data.pb.go b/dto/common_proto/common_data.pb.go
index 52f631a..00a8320 100644
--- a/dto/common_proto/common_data.pb.go
+++ b/dto/common_proto/common_data.pb.go
@@ -195,6 +195,12 @@ type TrainEndsState struct {
 	RadarCheckSpeedDiff float32 `protobuf:"fixed32,4,opt,name=radarCheckSpeedDiff,proto3" json:"radarCheckSpeedDiff,omitempty"`
 	// 雷达检测时间(秒)
 	RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"`
+	// 加速度计是否有效
+	AccEnable bool `protobuf:"varint,6,opt,name=accEnable,proto3" json:"accEnable,omitempty"`
+	// 加速度测速差值（米/秒）
+	AccCheckSpeedDiff float32 `protobuf:"fixed32,7,opt,name=accCheckSpeedDiff,proto3" json:"accCheckSpeedDiff,omitempty"`
+	// 加速度持续时间
+	AccCheckTime int32 `protobuf:"varint,8,opt,name=accCheckTime,proto3" json:"accCheckTime,omitempty"`
 }
 
 func (x *TrainEndsState) Reset() {
@@ -264,6 +270,27 @@ func (x *TrainEndsState) GetRadarCheckTime() int32 {
 	return 0
 }
 
+func (x *TrainEndsState) GetAccEnable() bool {
+	if x != nil {
+		return x.AccEnable
+	}
+	return false
+}
+
+func (x *TrainEndsState) GetAccCheckSpeedDiff() float32 {
+	if x != nil {
+		return x.AccCheckSpeedDiff
+	}
+	return 0
+}
+
+func (x *TrainEndsState) GetAccCheckTime() int32 {
+	if x != nil {
+		return x.AccCheckTime
+	}
+	return 0
+}
+
 var File_common_data_proto protoreflect.FileDescriptor
 
 var file_common_data_proto_rawDesc = []byte{
@@ -300,7 +327,7 @@ var file_common_data_proto_rawDesc = []byte{
 	0x05, 0x73, 0x6c, 0x69, 0x64, 0x65, 0x12, 0x1a, 0x0a, 0x08, 0x73, 0x74, 0x6f, 0x70, 0x53, 0x69,
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 	0x67, 0x6e, 0x12, 0x16, 0x0a, 0x06, 0x69, 0x64, 0x6c, 0x69, 0x6e, 0x67, 0x18, 0x0d, 0x20, 0x01,
-	0x28, 0x02, 0x52, 0x06, 0x69, 0x64, 0x6c, 0x69, 0x6e, 0x67, 0x22, 0xec, 0x01, 0x0a, 0x0e, 0x54,
+	0x28, 0x02, 0x52, 0x06, 0x69, 0x64, 0x6c, 0x69, 0x6e, 0x67, 0x22, 0xdc, 0x02, 0x0a, 0x0e, 0x54,
 	0x72, 0x61, 0x69, 0x6e, 0x45, 0x6e, 0x64, 0x73, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x2e, 0x0a,
 	0x12, 0x73, 0x70, 0x65, 0x65, 0x64, 0x53, 0x65, 0x6e, 0x73, 0x6f, 0x72, 0x45, 0x6e, 0x61, 0x62,
 	0x6c, 0x65, 0x41, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x12, 0x73, 0x70, 0x65, 0x65, 0x64,
@@ -315,6 +342,13 @@ var file_common_data_proto_rawDesc = []byte{
 	0x64, 0x61, 0x72, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x53, 0x70, 0x65, 0x65, 0x64, 0x44, 0x69, 0x66,
 	0x66, 0x12, 0x26, 0x0a, 0x0e, 0x72, 0x61, 0x64, 0x61, 0x72, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x54,
 	0x69, 0x6d, 0x65, 0x18, 0x05, 0x20, 0x01, 0x28, 0x05, 0x52, 0x0e, 0x72, 0x61, 0x64, 0x61, 0x72,
+	0x43, 0x68, 0x65, 0x63, 0x6b, 0x54, 0x69, 0x6d, 0x65, 0x12, 0x1c, 0x0a, 0x09, 0x61, 0x63, 0x63,
+	0x45, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x18, 0x06, 0x20, 0x01, 0x28, 0x08, 0x52, 0x09, 0x61, 0x63,
+	0x63, 0x45, 0x6e, 0x61, 0x62, 0x6c, 0x65, 0x12, 0x2c, 0x0a, 0x11, 0x61, 0x63, 0x63, 0x43, 0x68,
+	0x65, 0x63, 0x6b, 0x53, 0x70, 0x65, 0x65, 0x64, 0x44, 0x69, 0x66, 0x66, 0x18, 0x07, 0x20, 0x01,
+	0x28, 0x02, 0x52, 0x11, 0x61, 0x63, 0x63, 0x43, 0x68, 0x65, 0x63, 0x6b, 0x53, 0x70, 0x65, 0x65,
+	0x64, 0x44, 0x69, 0x66, 0x66, 0x12, 0x22, 0x0a, 0x0c, 0x61, 0x63, 0x63, 0x43, 0x68, 0x65, 0x63,
+	0x6b, 0x54, 0x69, 0x6d, 0x65, 0x18, 0x08, 0x20, 0x01, 0x28, 0x05, 0x52, 0x0c, 0x61, 0x63, 0x63,
 	0x43, 0x68, 0x65, 0x63, 0x6b, 0x54, 0x69, 0x6d, 0x65, 0x42, 0x2f, 0x5a, 0x2d, 0x6a, 0x6f, 0x79,
 	0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72, 0x74, 0x73,
 	0x74, 0x73, 0x2d, 0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f, 0x63, 0x6f,
diff --git a/dto/simulation.go b/dto/simulation.go
index 2854ec8..a224c9a 100644
--- a/dto/simulation.go
+++ b/dto/simulation.go
@@ -97,6 +97,10 @@ type ConfigTrainEnds struct {
 	RadarEnable         bool    `json:"radarEnable"`         // 雷达是否有效
 	RadarCheckSpeedDiff float32 `json:"radarCheckSpeedDiff"` // 雷达测速数值
 	RadarCheckTime      int32   `json:"radarCheckTime"`      // 雷达检测时间(秒)
+
+	AccEnable         bool    `json:"accEnable"`         // 加速计是否有效
+	AccCheckSpeedDiff float32 `json:"accCheckSpeedDiff"` // 加速计速度差
+	AccCheckTime      int32   `json:"accCheckTime"`      // 加速计储蓄时间
 }
 type ConfigTrainData struct {
 	//Mass                   int32           `json:"mass" form:"mass"`       // 列车的质量（100=1ton）
diff --git a/dto/state_proto/device_state.pb.go b/dto/state_proto/device_state.pb.go
index 8bf5525..f741c0a 100644
--- a/dto/state_proto/device_state.pb.go
+++ b/dto/state_proto/device_state.pb.go
@@ -1081,32 +1081,34 @@ type TrainDynamicState struct {
 	Upslope bool `protobuf:"varint,8,opt,name=upslope,proto3" json:"upslope,omitempty"`
 	// 列车当前运行方向,1 =上行true 0 =下行false
 	RunningUp bool `protobuf:"varint,9,opt,name=runningUp,proto3" json:"runningUp,omitempty"`
-	// 实际运行阻力（总）（N）totalResistance,1=1KN
+	// 实际运行阻力（总）（N）totalResistance,1=1N
 	RunningResistanceSum float32 `protobuf:"fixed32,10,opt,name=runningResistanceSum,proto3" json:"runningResistanceSum,omitempty"`
-	// 阻力1（空气阻力）（N）airResistance,1=1KN
+	// 阻力1（空气阻力）（N）airResistance,1=1N
 	AirResistance float32 `protobuf:"fixed32,11,opt,name=airResistance,proto3" json:"airResistance,omitempty"`
-	// 阻力2（坡道阻力）（N）slopeResistance,1=1KN
+	// 阻力2（坡道阻力）（N）slopeResistance,1=1N
 	RampResistance float32 `protobuf:"fixed32,12,opt,name=rampResistance,proto3" json:"rampResistance,omitempty"`
-	// 阻力3（曲线阻力）（N）curveResistance,1=1KN
+	// 阻力3（曲线阻力）（N）curveResistance,1=1N
 	CurveResistance float32 `protobuf:"fixed32,13,opt,name=curveResistance,proto3" json:"curveResistance,omitempty"`
-	// 列车运行速度（m/s）speed,1=1km/h
+	// 列车运行速度（m/s）speed,1=1m/s 此处放置的是转换后的数据km/h
 	Speed int32 `protobuf:"varint,14,opt,name=speed,proto3" json:"speed,omitempty"`
-	// 头车速传1速度值（m/s）headSpeed1,1=1km/h
+	// 头车速传1速度值（m/s）headSpeed1,1=1m/s 此处放置的是转换后的数据km/h
 	HeadSensorSpeed1 int32 `protobuf:"varint,15,opt,name=headSensorSpeed1,proto3" json:"headSensorSpeed1,omitempty"`
-	// 头车速度2速度值（m/s）headSpeed2,1=1km/h
+	// 头车速度2速度值（m/s）headSpeed2,1=1m/s 此处放置的是转换后的数据km/h
 	HeadSensorSpeed2 int32 `protobuf:"varint,16,opt,name=headSensorSpeed2,proto3" json:"headSensorSpeed2,omitempty"`
-	// 尾车速传1速度值（m/s）tailSpeed1,1=1km/h
+	// 尾车速传1速度值（m/s）tailSpeed1,1=1m/s 此处放置的是转换后的数据km/h
 	TailSensorSpeed1 int32 `protobuf:"varint,17,opt,name=tailSensorSpeed1,proto3" json:"tailSensorSpeed1,omitempty"`
-	// 尾车速度2速度值（m/s）tailSpeed2,1=1km/h
+	// 尾车速度2速度值（m/s）tailSpeed2,1=1m/s 此处放置的是转换后的数据km/h
 	TailSensorSpeed2 int32 `protobuf:"varint,18,opt,name=tailSensorSpeed2,proto3" json:"tailSensorSpeed2,omitempty"`
-	// 头车雷达速度值（m/s）headRadarSpeed,1=1km/h
+	// 头车雷达速度值（m/s）headRadarSpeed,1=1m/s 此处放置的是转换后的数据km/h
 	HeadRadarSpeed int32 `protobuf:"varint,19,opt,name=headRadarSpeed,proto3" json:"headRadarSpeed,omitempty"`
-	// 尾车雷达速度值（m/s）tailRadarSpeed,1=1km/h
+	// 尾车雷达速度值（m/s）tailRadarSpeed,1=1m/s 此处放置的是转换后的数据km/h
 	TailRadarSpeed int32 `protobuf:"varint,20,opt,name=tailRadarSpeed,proto3" json:"tailRadarSpeed,omitempty"`
 	// 通讯中断
 	UdpInterruption bool `protobuf:"varint,21,opt,name=udpInterruption,proto3" json:"udpInterruption,omitempty"`
 	// 加速
 	Acceleration float32 `protobuf:"fixed32,22,opt,name=acceleration,proto3" json:"acceleration,omitempty"`
+	// 列车位移
+	Displacement int32 `protobuf:"varint,23,opt,name=Displacement,proto3" json:"Displacement,omitempty"`
 }
 
 func (x *TrainDynamicState) Reset() {
@@ -1295,6 +1297,13 @@ func (x *TrainDynamicState) GetAcceleration() float32 {
 	return 0
 }
 
+func (x *TrainDynamicState) GetDisplacement() int32 {
+	if x != nil {
+		return x.Displacement
+	}
+	return 0
+}
+
 // vobc发过来的列车信息
 type TrainVobcState struct {
 	state         protoimpl.MessageState
@@ -1706,6 +1715,8 @@ type TrainMapState struct {
 	TrainEndsA *TrainEndsStateMqtt `protobuf:"bytes,63,opt,name=trainEndsA,proto3" json:"trainEndsA,omitempty"`
 	// 列车B端
 	TrainEndsB *TrainEndsStateMqtt `protobuf:"bytes,64,opt,name=trainEndsB,proto3" json:"trainEndsB,omitempty"`
+	// 列车位移
+	Displacement int32 `protobuf:"varint,65,opt,name=Displacement,proto3" json:"Displacement,omitempty"`
 }
 
 func (x *TrainMapState) Reset() {
@@ -2188,6 +2199,13 @@ func (x *TrainMapState) GetTrainEndsB() *TrainEndsStateMqtt {
 	return nil
 }
 
+func (x *TrainMapState) GetDisplacement() int32 {
+	if x != nil {
+		return x.Displacement
+	}
+	return 0
+}
+
 // 动力学相关参数返回数据，因golang float类型数据序列化后丢失精度故使用string
 // 此类型需要与 common_data 中的 TrainDynamicConfig类型属性保持一致
 type TrainDynamicConfigMqtt struct {
@@ -2361,6 +2379,11 @@ type TrainEndsStateMqtt struct {
 	RadarCheckSpeedDiff string `protobuf:"bytes,4,opt,name=radarCheckSpeedDiff,proto3" json:"radarCheckSpeedDiff,omitempty"`
 	// 雷达检测时间(秒)
 	RadarCheckTime int32 `protobuf:"varint,5,opt,name=radarCheckTime,proto3" json:"radarCheckTime,omitempty"`
+	AccEnable      bool  `protobuf:"varint,6,opt,name=accEnable,proto3" json:"accEnable,omitempty"`
+	// 加速度测速差值（米/秒）
+	AccCheckSpeedDiff string `protobuf:"bytes,7,opt,name=accCheckSpeedDiff,proto3" json:"accCheckSpeedDiff,omitempty"`
+	// 加速度持续时间
+	AccCheckTime int32 `protobuf:"varint,8,opt,name=accCheckTime,proto3" json:"accCheckTime,omitempty"`
 }
 
 func (x *TrainEndsStateMqtt) Reset() {
@@ -2430,6 +2453,27 @@ func (x *TrainEndsStateMqtt) GetRadarCheckTime() int32 {
 	return 0
 }
 
+func (x *TrainEndsStateMqtt) GetAccEnable() bool {
+	if x != nil {
+		return x.AccEnable
+	}
+	return false
+}
+
+func (x *TrainEndsStateMqtt) GetAccCheckSpeedDiff() string {
+	if x != nil {
+		return x.AccCheckSpeedDiff
+	}
+	return ""
+}
+
+func (x *TrainEndsStateMqtt) GetAccCheckTime() int32 {
+	if x != nil {
+		return x.AccCheckTime
+	}
+	return 0
+}
+
 // 继电器状态
 type ReplyState struct {
 	state         protoimpl.MessageState
@@ -3616,7 +3660,7 @@ var file_device_state_proto_rawDesc = []byte{
 	0x73, 0x41, 0x12, 0x36, 0x0a, 0x0a, 0x74, 0x72, 0x61, 0x69, 0x6e, 0x45, 0x6e, 0x64, 0x73, 0x42,
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+	0x74, 0x72, 0x61, 0x69, 0x6e, 0x45, 0x6e, 0x64, 0x73, 0x42, 0x22, 0xf1, 0x06, 0x0a, 0x11, 0x54,
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@@ -3669,446 +3713,458 @@ var file_device_state_proto_rawDesc = []byte{
 	0x15, 0x20, 0x01, 0x28, 0x08, 0x52, 0x0f, 0x75, 0x64, 0x70, 0x49, 0x6e, 0x74, 0x65, 0x72, 0x72,
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 }
 
 var (
diff --git a/message_server/sfp_ms.go b/message_server/sfp_ms.go
index c6a80c1..bfc1c04 100644
--- a/message_server/sfp_ms.go
+++ b/message_server/sfp_ms.go
@@ -367,6 +367,7 @@ func convertTrainState(v *state_proto.TrainState) *state_proto.TrainMapState {
 		TailRadarSpeed:       v.DynamicState.TailRadarSpeed,
 		DynamicInterruption:  v.DynamicState.UdpInterruption,
 		Acceleration:         v.DynamicState.Acceleration,
+		Displacement:         v.DynamicState.Displacement,
 		// 半实物
 		VobcLifeSignal:         v.VobcState.LifeSignal,
 		Tc1Active:              v.VobcState.Tc1Active,
@@ -425,7 +426,12 @@ func convertEnds(ends *common_proto.TrainEndsState) *state_proto.TrainEndsStateM
 		SpeedSensorEnableB:  ends.SpeedSensorEnableB,
 		RadarEnable:         ends.RadarEnable,
 		RadarCheckSpeedDiff: floatToString(ends.RadarCheckSpeedDiff),
-		RadarCheckTime:      ends.RadarCheckTime}
+		RadarCheckTime:      ends.RadarCheckTime,
+		AccEnable:           ends.AccEnable,
+		AccCheckSpeedDiff:   floatToString(ends.AccCheckSpeedDiff),
+		AccCheckTime:        ends.AccCheckTime,
+	}
+
 }
 func floatToString(f float32) string {
 	return fmt.Sprintf("%v", f)
diff --git a/third_party/acc/acc_server_test.go b/third_party/acc/acc_server_test.go
new file mode 100644
index 0000000..7b07181
--- /dev/null
+++ b/third_party/acc/acc_server_test.go
@@ -0,0 +1,29 @@
+package acc
+
+import (
+	"encoding/json"
+	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"testing"
+)
+
+func TestAccUdp(t *testing.T) {
+
+	fmt.Println("准备启动服务...")
+	addr := fmt.Sprintf("%v:%v", "127.0.0.1", "8899")
+	server := udp.NewServer(addr, handle)
+	server.Listen()
+	for {
+	}
+}
+
+func handle(d []byte) {
+	ri := message.RadarInfo{}
+	err := ri.Decode(d)
+	if err == nil {
+
+		jsonD, _ := json.Marshal(ri)
+		fmt.Println(string(jsonD))
+	}
+}
diff --git a/third_party/acc/acc_vobc.go b/third_party/acc/acc_vobc.go
new file mode 100644
index 0000000..b9e8d10
--- /dev/null
+++ b/third_party/acc/acc_vobc.go
@@ -0,0 +1,88 @@
+package acc
+
+import (
+	"context"
+	"fmt"
+	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/dto/state_proto"
+	"joylink.club/bj-rtsts-server/third_party/message"
+	"joylink.club/bj-rtsts-server/third_party/udp"
+	"math"
+	"sync"
+	"time"
+)
+
+type AccVobc interface {
+	Start(accManager AccVobcManager)
+	Stop()
+}
+
+type AccVobcManager interface {
+	GetRunAccConfig() config.AccConfig
+	FindAccTrain() *state_proto.TrainState
+}
+
+var (
+	initLock  = &sync.Mutex{}
+	singleObj *accVobcService
+)
+
+const (
+	accInterval  = 15
+	accSpeedUnit = 9.8
+)
+
+func Default() AccVobc {
+	defer initLock.Unlock()
+	if singleObj == nil {
+		initLock.Lock()
+		singleObj = &accVobcService{}
+	}
+	return singleObj
+}
+
+type accVobcService struct {
+	controlContext   context.CancelFunc
+	vobcClient       udp.UdpClient
+	radarVobcManager AccVobcManager
+}
+
+func (acc *accVobcService) Start(accManager AccVobcManager) {
+	config := accManager.GetRunAccConfig()
+	if config.RemoteIp == "" || config.RemotePort <= 0 || !config.Open {
+	}
+	acc.vobcClient = udp.NewClient(fmt.Sprintf("%v:%v", config.RemoteIp, config.RemotePort))
+	ctx, cancleFunc := context.WithCancel(context.Background())
+	acc.controlContext = cancleFunc
+	acc.radarVobcManager = accManager
+	go acc.sendTask(ctx)
+}
+
+func (acc *accVobcService) sendTask(ctx context.Context) {
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		default:
+		}
+		trainStatus := acc.radarVobcManager.FindAccTrain()
+		if trainStatus != nil {
+			speedAcc := trainStatus.DynamicState.Acceleration
+			t := speedAcc / accSpeedUnit
+
+			acc.vobcClient.SendMsg(&message.Accelerometer{Acc: math.Float32bits(t)})
+		}
+		time.Sleep(time.Millisecond * accInterval)
+	}
+}
+
+func (acc *accVobcService) Stop() {
+	if acc.controlContext != nil {
+		acc.controlContext()
+		acc.controlContext = nil
+	}
+	if acc.vobcClient != nil {
+		acc.vobcClient.Close()
+		acc.vobcClient = nil
+	}
+}
diff --git a/third_party/message/accelerometer.go b/third_party/message/accelerometer.go
new file mode 100644
index 0000000..d5fda7b
--- /dev/null
+++ b/third_party/message/accelerometer.go
@@ -0,0 +1,48 @@
+package message
+
+import (
+	"bytes"
+	"encoding/binary"
+	"fmt"
+)
+
+const (
+	accHeader   = 0xA6
+	uaidDefault = 0x1C
+)
+
+type Accelerometer struct {
+	Acc uint32
+}
+
+func (acc *Accelerometer) Encode() []byte {
+	data := make([]byte, 0)
+	data = append(data, accHeader)
+	data = append(data, uaidDefault)
+	data = binary.LittleEndian.AppendUint32(data, acc.Acc)
+	cs := checkSum(data)
+	data = append(data, ^cs+1)
+	return data
+}
+
+func checkSum(data []byte) byte {
+	var sum byte = 0
+	for _, d := range data {
+		sum += d
+	}
+	return sum
+}
+
+func (acc *Accelerometer) Decode(data []byte) error {
+	if len(data) < 7 {
+		return fmt.Errorf("")
+	}
+	buf := bytes.NewBuffer(data)
+	_, _ = buf.ReadByte()
+	_, _ = buf.ReadByte()
+	var dataInt uint32 = 0
+	binary.Read(buf, binary.LittleEndian, &dataInt)
+	//newData := math.Float32frombits(dataInt & 0xffffc000)
+	acc.Acc = dataInt & 0xffffc000
+	return nil
+}
diff --git a/third_party/message/dynamics.go b/third_party/message/dynamics.go
index 4fc156f..8d2d9c5 100644
--- a/third_party/message/dynamics.go
+++ b/third_party/message/dynamics.go
@@ -76,6 +76,9 @@ type DynamicsTrainInfo struct {
 	Acceleration float32
 	// 对应动力学生命周期值
 	VobcLifeSignal uint16
+
+	//列车位移 单位：mm
+	Displacement uint16
 }
 
 // 解析动力学的列车信息
@@ -102,5 +105,6 @@ func (t *DynamicsTrainInfo) Decode(buf []byte) error {
 	t.TailRadarSpeed = math.Float32frombits(binary.BigEndian.Uint32(buf[56:60]))
 	t.Acceleration = math.Float32frombits(binary.BigEndian.Uint32(buf[60:64]))
 	t.VobcLifeSignal = binary.BigEndian.Uint16(buf[64:66])
+	t.Displacement = binary.BigEndian.Uint16(buf[66:68])
 	return nil
 }
diff --git a/third_party/radar/radar_test.go b/third_party/radar/radar_test.go
index a297bd9..77a6f14 100644
--- a/third_party/radar/radar_test.go
+++ b/third_party/radar/radar_test.go
@@ -5,10 +5,21 @@ import (
 	"fmt"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
+	"math"
 	"testing"
 )
 
+func TestA1(t *testing.T) {
+	a := 112.12
+	b := 0.1
+	fmt.Println(math.Mod(a, b))
+	fmt.Println(a / 0.1)
+	fmt.Println(math.Mod(1121, 0.1))
+	fmt.Println(math.Round(math.Mod(1121, 0.1)))
+
+}
 func TestUdp(t *testing.T) {
+
 	fmt.Println("准备启动服务...")
 	addr := fmt.Sprintf("%v:%v", "127.0.0.1", "8899")
 	server := udp.NewServer(addr, handle)
diff --git a/third_party/radar/radar_vobc.go b/third_party/radar/radar_vobc.go
index 8f8042e..aefc3a6 100644
--- a/third_party/radar/radar_vobc.go
+++ b/third_party/radar/radar_vobc.go
@@ -26,9 +26,10 @@ type RadarVobcManager interface {
 const radar_interval = 15
 
 var (
-	initLock    = sync.Mutex{}
-	_radar      *radarVobc
-	fixed_speed = 0.009155
+	initLock        = sync.Mutex{}
+	_radar          *radarVobc
+	fixed_speed     = 0.009155
+	driftDefaultVal = 0.1
 )
 
 func Default() RadarVobc {
@@ -74,10 +75,15 @@ func (rv *radarVobc) sendRadarInfo(ctx context.Context) {
 		trainStatus := rv.radarVobcManager.FindRadarTrain()
 		if trainStatus != nil {
 			hourSpeed := float64(trainStatus.DynamicState.Speed / 100)
-			ri := message.RadarInfo{RealSpeed: uint16(math.Round(hourSpeed / fixed_speed)), DriftCounterS1: 0, DriftCounterS2: 0}
+			trainDift := trainStatus.DynamicState.Displacement
+			td := float64(trainDift / 1000)
+			s1 := uint16(math.Round(td / driftDefaultVal))
+			s2 := uint16(math.Round(td / 1000 / driftDefaultVal))
+
+			ri := message.RadarInfo{RealSpeed: uint16(math.Round(hourSpeed / fixed_speed)), DriftCounterS1: s1, DriftCounterS2: s2}
 			rv.vobcClient.SendMsg(ri)
-			time.Sleep(time.Millisecond * radar_interval)
 		}
+		time.Sleep(time.Millisecond * radar_interval)
 	}
 
 }
diff --git a/ts/simulation/wayside/memory/wayside_memory_train.go b/ts/simulation/wayside/memory/wayside_memory_train.go
index a7de276..8e6dc8b 100644
--- a/ts/simulation/wayside/memory/wayside_memory_train.go
+++ b/ts/simulation/wayside/memory/wayside_memory_train.go
@@ -199,6 +199,10 @@ func copyTrainEnds(trainState *state_proto.TrainState, fieldName string, configD
 	endsVal.RadarEnable = configData.RadarEnable
 	endsVal.RadarCheckSpeedDiff = configData.RadarCheckSpeedDiff
 	endsVal.RadarCheckTime = configData.RadarCheckTime
+	endsVal.AccEnable = configData.AccEnable
+	endsVal.AccCheckSpeedDiff = configData.AccCheckSpeedDiff
+	endsVal.AccCheckTime = configData.AccCheckTime
+
 }
 func UpdateConfigTrain(vs *VerifySimulation, ct *dto.ConfigTrainReqDto) {
 	allTrainMap := &vs.Memory.Status.TrainStateMap
@@ -321,6 +325,7 @@ func UpdateTrainStateByDynamics(vs *VerifySimulation, trainId string, info *mess
 	sta.DynamicState.HeadRadarSpeed = speedParse(info.HeadRadarSpeed)
 	sta.DynamicState.TailRadarSpeed = speedParse(info.TailRadarSpeed)
 	sta.DynamicState.Acceleration = info.Acceleration
+	sta.DynamicState.Displacement = int32(info.Displacement)
 	return sta
 }
 
diff --git a/ts/simulation/wayside/memory/wayside_simulation.go b/ts/simulation/wayside/memory/wayside_simulation.go
index 4a19312..c44cba2 100644
--- a/ts/simulation/wayside/memory/wayside_simulation.go
+++ b/ts/simulation/wayside/memory/wayside_simulation.go
@@ -540,6 +540,11 @@ func (s *VerifySimulation) GetRunRadarConfig() config.RadarConfig {
 	return s.runConfig.Radar
 }
 
+// GetRunAccConfig 获取加速计配置信息
+func (s *VerifySimulation) GetRunAccConfig() config.AccConfig {
+	return s.runConfig.Acc
+}
+
 // FindRadarTrain 查找一个列车 只有1端雷达开启啊
 func (s *VerifySimulation) FindRadarTrain() *state_proto.TrainState {
 	var trainStatus *state_proto.TrainState
@@ -560,6 +565,25 @@ func (s *VerifySimulation) FindRadarTrain() *state_proto.TrainState {
 	return trainStatus
 }
 
+// FindRadarTrain 查找一个列车 只有1端雷达开启啊
+func (s *VerifySimulation) FindAccTrain() *state_proto.TrainState {
+	var trainStatus *state_proto.TrainState
+	s.Memory.Status.TrainStateMap.Range(func(k any, v any) bool {
+		val, ok := v.(*state_proto.TrainState)
+		if ok {
+			if val.TrainEndsA.AccEnable && val.TrainEndsB.AccEnable {
+				//trainStatus = val
+				//return false
+				return true
+			} else if val.TrainEndsA.AccEnable || val.TrainEndsB.AccEnable {
+				trainStatus = val
+				return false
+			}
+		}
+		return true
+	})
+	return trainStatus
+}
 func buildProtoRepository(mapIds []int32) (*proto.Repository, error) {
 	repo := &proto.Repository{}
 	var exceptStationGiMapIds []int32
diff --git a/ts/test_simulation_manage.go b/ts/test_simulation_manage.go
index c23a051..472b8b4 100644
--- a/ts/test_simulation_manage.go
+++ b/ts/test_simulation_manage.go
@@ -2,6 +2,7 @@ package ts
 
 import (
 	"fmt"
+	"joylink.club/bj-rtsts-server/third_party/acc"
 	"joylink.club/bj-rtsts-server/third_party/radar"
 	"log/slog"
 	"runtime"
@@ -133,6 +134,8 @@ func runThirdParty(s *memory.VerifySimulation) error {
 	}
 	//列车雷达发送vobc
 	radar.Default().Start(s)
+	//列车加速计发送vobc
+	acc.Default().Start(s)
 	return nil
 }
 
@@ -156,6 +159,8 @@ func stopThirdParty(s *memory.VerifySimulation) {
 	cidcmodbus.Stop()
 	// 雷达服务停止
 	radar.Default().Stop()
+	// 加速计服务停止
+	acc.Default().Stop()
 }
 
 func createSimulationId(projectId int32) string {