diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
index 299509e57..d3080f2ec 100644
--- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
+++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
@@ -7,7 +7,6 @@ import lombok.Data;
 import lombok.NoArgsConstructor;
 
 import java.math.BigDecimal;
-import java.time.LocalDateTime;
 
 @Data
 @Builder
@@ -62,6 +61,23 @@ public class PositionMapLineDTO {
     @Schema(description = "膨胀区域右")
     private BigDecimal expansionZoneRight;
 
-    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
+
+    /**
+     * 双向车道 反向行走变更车头朝向
+     * @param toward
+     * @return
+     */
+    public Integer changeToward(Integer toward) {
+        if (toward == 0) {
+            return 3;
+        } else if (toward == 1) {
+            return 2;
+        } else if (toward == 2) {
+            return 1;
+        } else {
+            return 0;
+        }
+    }
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java
index c6d52812b..eb266a704 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java
@@ -59,6 +59,6 @@ public class PositionMapLineDTO {
     @Schema(description = "膨胀区域右")
     private BigDecimal expansionZoneRight;
 
-    @Schema(description = "车头朝向( 0:正向 1:反向)")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)")
     private Integer toward;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java
index 1fac5dff9..4a651d477 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java
@@ -78,7 +78,7 @@ public class PositionMapLinePageReqVO extends PageParam {
     private LocalDateTime[] createTime;
 
 
-    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java
index 1c128679a..d1d356872 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java
@@ -90,8 +90,8 @@ public class PositionMapLineRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
-    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
-    @ExcelProperty("车头朝向( 0:正向 1:反向)")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
+    @ExcelProperty("车头朝向( 0:正正 1:正反 2:反正 3:反反)")
     private Integer toward;
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java
index a1d27ce59..63255677a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java
@@ -71,7 +71,7 @@ public class PositionMapLineSaveReqVO {
     private BigDecimal reverseSpeedLimit;
 
 
-    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java
index 94dd420f7..cf7f21d0a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java
@@ -108,7 +108,7 @@ public class PositionMapLineDO extends BaseDO {
     private BigDecimal reverseSpeedLimit;
 
     /**
-     * 车头朝向( 0:正向 1:反向)
+     * 车头朝向(0:正正 1:正反 2:反正 3:反反)
      */
     private Integer toward;
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
index a5a4fce6e..1e96e082b 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
@@ -367,7 +367,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 .expansionZoneAfter(positionMapLineDO.getExpansionZoneFront())
                 .expansionZoneLeft(positionMapLineDO.getExpansionZoneRight())
                 .expansionZoneRight(positionMapLineDO.getExpansionZoneLeft())
-                .toward(positionMapLineDO.getToward())
+                .toward(positionMapLineDO.changeToward(positionMapLineDO.getToward()))
                 .build();
         return build;
     }