diff --git a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/EmPlannerTrajectoryReplacementExample.cs b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/EmPlannerTrajectoryReplacementExample.cs
index c999200..20e9fee 100644
--- a/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/EmPlannerTrajectoryReplacementExample.cs
+++ b/ClumsyPilot/ParkrobTrajplanner/Trajplanner_guide/EmPlannerTrajectoryReplacementExample.cs
@@ -4,7 +4,7 @@
 
 using System;
 using System.Threading;
-using MultiWheelC.StateEstimation;
+using ControllerStateProvider = MultiWheelC.StateEstimation.IVehicleStateProvider;
 using MultiWheelC.TrajectoryPlanning.EMPlanner;
 using MultiWheelC.TrajectoryPlanning.TrajectoryObservation;
 using MyParking.Shared;
@@ -40,7 +40,7 @@ public static class EmPlannerTrajectoryReplacementExample
     // Task 2 内部同步调用 EmPlanningService.Plan(request, cancellationToken)，
     // 并在返回前完成 Success/SuccessWithFallback、非空轨迹和可控点的发布闸门检查。
     private static void WrapperReplacement(
-        IVehicleStateProvider stateProvider,
+        ControllerStateProvider stateProvider,
         CancellationToken cancellationToken)
     {
         FixedOfflinePlanningOutput planningOutput =
@@ -77,7 +77,7 @@ public static class EmPlannerTrajectoryReplacementExample
     // 没有轮询、HTTP、消息队列或轨迹仓库查询，也不能从其他调用的结果中取轨迹。
     private static void DirectServiceReplacement(
         EmPlanningRequest request,
-        IVehicleStateProvider stateProvider,
+        ControllerStateProvider stateProvider,
         CancellationToken cancellationToken)
     {
         var planningService = new EmPlanningService(new OsqpNativeSolver());