diff --git a/modules/drivers/lidar/vanjeelidar/README.md b/modules/drivers/lidar/vanjeelidar/README.md
index d3ff3b8f989..5c002422a2d 100644
--- a/modules/drivers/lidar/vanjeelidar/README.md
+++ b/modules/drivers/lidar/vanjeelidar/README.md
@@ -2,7 +2,7 @@
 
 ## 1 Introduction
 
- **vanjee**  is the lidar driver kit under Apollo platform. Now support *vanjee_720_16","vanjee_720_32*.
+ **vanjee lidar driver**  is the lidar driver kit under Apollo platform. Now, the supported lidar models include "vanjee_720_16","vanjee_720_32","vanjee_722" and "vanjee_722f".
 
 
 ## 2 Run
diff --git a/modules/drivers/lidar/vanjeelidar/README_cn.md b/modules/drivers/lidar/vanjeelidar/README_cn.md
index 70166104ac2..7facb892496 100644
--- a/modules/drivers/lidar/vanjeelidar/README_cn.md
+++ b/modules/drivers/lidar/vanjeelidar/README_cn.md
@@ -2,7 +2,7 @@
 
 ## 1 工程简介
 
- **vanjee** 为万集科技在阿波罗平台上的雷达驱动集成包。 目前支持*vanjee_720_16"、"vanjee_720_32*型号的雷达。 
+ **vanjee lidar driver** 为万集科技在阿波罗平台上的雷达驱动集成包。 目前支持"vanjee_720_16"、"vanjee_720_32"、"vanjee_722"和"vanjee_722f"型号的雷达。 
 
 ## 2 运行
 
diff --git a/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt
index d54363fc9b5..9d7742eb638 100644
--- a/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt
+++ b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt
@@ -7,7 +7,7 @@ config_base {
   source_type: ONLINE_LIDAR
 }
 
-# sample: "vanjee_720_16,vanjee_720_32"
+# sample: "vanjee_720_16,vanjee_720_32,vanjee_722,vanjee_722f"
 model: "vanjee_720_16"
 connect_type: 1
 host_msop_port: 3001
@@ -19,8 +19,10 @@ start_angle: 0
 end_angle: 360
 min_distance: 0.3
 max_distance: 120
+point_cloud_masking:""
 use_lidar_clock: false
 dense_points: false
 wait_for_difop: true
 config_from_file: false
-angle_path: "/usr/local/include/vanjee_driver/param/Vanjee_720_16.csv"
+angle_path_hor: ""
+angle_path_ver: "/usr/local/include/vanjee_driver/param/Vanjee_720_16_VA.csv"
diff --git a/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md
index 21adc4f16a8..65f3add9645 100755
--- a/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md
+++ b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md
@@ -16,16 +16,18 @@ start_angle: 0
 end_angle: 360
 min_distance: 0.2
 max_distance: 120
+point_cloud_masking: ""
 use_lidar_clock: false
 dense_points: false
 wait_for_difop: true
 config_from_file: false
-angle_path: ""
+angle_path_hor: ""
+angle_path_ver: ""
 ```
 
 **model**
 
-This is the lidar model, since this configuration file is for vanjee_720_16, we set the model="vanjee_720_16".The parameter are as followed below:vanjee_720_16,vanjee_720_32.
+This is the lidar model, since this configuration file is for vanjee_720_16, we set the model="vanjee_720_16".The parameter are as followed below:vanjee_720_16,vanjee_720_32,vanjee_722 and vanjee_722f.
 
 **connect_type**
 
@@ -67,6 +69,22 @@ The minimum distance of point cloud,unit:m.
 
 The maximum distance of point cloud,unit:m.The point cloud published would only include the distance between min_distance and max_distance.
 
+**point_cloud_masking**
+masking range,
+  line id range: C1-C2，angle range: A1-A2，distance range: L1-L2；(Range is set in ascending order)
+  Group 1：1-3,0-0.5/100-105,0-1.5/10-20;(masking line id: 1 2 3，masking angle: 0-0.5°+100-105°，masking distance: 0-1.5m+10-20m);
+  Group 2：5,0/90/180/270,10;(masking line id: 5，masking angle: 0+90+180+270°，masking distance: 10m);
+  Group 3：1-3,0-0.5/100-105,0-1.5/10-20;5,0/90/180/270,10;(masking range = Group 1 + Group 2);
+
+masking Rules,
+  Separate group elements with commas (,), separate line id, angles, and distances with slashes (/) when they are not continuous, and separate two groups with semicolons (;), all using English characters as separators;
+
+Note: The angle/distance ranges of Shielding Group 1 and Shielding Group 2 are independent of each other, as shown below. Shielding Group 4 and     Shielding Group 5 have different ranges, while Shielding Group 4 and Shielding Group 6 have equal ranges;
+
+  Group 4：5,10-20/50-60,1.5-2.5/11-13;
+  Group 5：5,10-20,1.5-2.5;5,50-60,11-13;
+  Group 6：5,10-20,1.5-2.5;5,10-20,11-13;5,50-60,1.5-2.5;5,50-60,11-13;
+
 **use_lidar_clock**
 
   - true: The timestamp of lidar messages is the lidar clock.
@@ -85,6 +103,10 @@ The flag whether need to request the angle information from the lidar firstly. U
 
 The flag whether read the angle information from the configuration file .Usually set config_from_file=true in RAW_PACKET mode,otherwise set it as false.
 
-**angle_path**
+**angle_path_hor**
+
+The path of horizontal angle configuration file.
+
+**angle_path_ver**
 
-The path of angle configuration file.
+The path of vertical angle configuration file.
diff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto
index ee4b2e85388..9bc27a917db 100644
--- a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto
+++ b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto
@@ -20,14 +20,16 @@ message Config {
   optional float end_angle = 6;
   optional float min_distance = 7;
   optional float max_distance = 8;
-  optional bool use_lidar_clock = 9 [default = false];
+  optional string point_cloud_masking = 9 [default = ""];
+  optional bool use_lidar_clock = 10 [default = false];
   // supplementary parameters of Decoder Param
-  optional bool dense_points = 10 [default = false];
-  optional bool wait_for_difop = 11 [default = true];
-  optional bool config_from_file = 12 [default = false];
-  optional string angle_path = 13 [default = ""];
-  optional uint32 publish_mode = 14 [default = 2];
+  optional bool dense_points = 11 [default = false];
+  optional bool wait_for_difop = 12 [default = true];
+  optional bool config_from_file = 13 [default = false];
+  optional string angle_path_ver = 14 [default = ""];
+  optional string angle_path_hor = 15 [default = ""];
+  optional uint32 publish_mode = 16 [default = 2];
   // supplementary parameters of Input Param
-  optional string host_address = 15 [default = "0.0.0.0"];
-  optional string lidar_address = 16 [default = "0.0.0.0"];
+  optional string host_address = 17 [default = "0.0.0.0"];
+  optional string lidar_address = 18 [default = "0.0.0.0"];
 }
diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp
index 4dca5fb7074..afe79a6e7cf 100644
--- a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp
+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp
@@ -45,11 +45,13 @@ bool VanjeelidarComponent::Init() {
   decoder_param.max_distance = conf_.max_distance();
   decoder_param.start_angle = conf_.start_angle();
   decoder_param.end_angle = conf_.end_angle();
+  decoder_param.hide_points_range = conf_.point_cloud_masking();
   decoder_param.use_lidar_clock = conf_.use_lidar_clock();
   decoder_param.dense_points = conf_.dense_points();
   decoder_param.wait_for_difop = conf_.wait_for_difop();
   decoder_param.config_from_file = conf_.config_from_file();
-  decoder_param.angle_path_ver = conf_.angle_path();
+  decoder_param.angle_path_hor = conf_.angle_path_hor();
+  decoder_param.angle_path_ver = conf_.angle_path_ver();
 
   ::vanjee::lidar::WJInputParam input_param;
   input_param.connect_type = conf_.connect_type();