diff --git a/planner_msgs/msg/Path.msg b/planner_msgs/msg/Path.msg
index db5119f0..e5312795 100644
--- a/planner_msgs/msg/Path.msg
+++ b/planner_msgs/msg/Path.msg
@@ -4,3 +4,4 @@
 std_msgs/Header header
 
 PathSegment[] segments
+uint8 id
diff --git a/planner_msgs/msg/PathSegment.msg b/planner_msgs/msg/PathSegment.msg
index 86616495..86472b34 100644
--- a/planner_msgs/msg/PathSegment.msg
+++ b/planner_msgs/msg/PathSegment.msg
@@ -9,4 +9,5 @@ std_msgs/Float64 segment_length
 geometry_msgs/Vector3 segment_start
 geometry_msgs/Vector3 segment_tangent
 std_msgs/Float64 curvature
-
+std_msgs/Float64 vd_start
+std_msgs/Float64 vd_end