diff --git a/src/tracking_car/config.yaml b/src/tracking_car/config.yaml
index 2e1dae5a58..79759fe126 100644
--- a/src/tracking_car/config.yaml
+++ b/src/tracking_car/config.yaml
@@ -17,7 +17,7 @@ lidar_points_per_second: 500000
 
 # ======================== 检测模型配置 ========================
 yolo_model: "yolov8n.pt"
-conf_thres: 0.25
+conf_thres: 0.1
 iou_thres: 0.3
 device: "cpu"  
 yolo_imgsz_max: 640
@@ -57,3 +57,25 @@ view:
   satellite_height: 50.0
   behind_distance: 10.0
   first_person_height: 1.6
+
+# ======================== 热重载配置 ========================
+hot_reload:
+  enabled: true           # 是否启用热重载
+  check_interval: 100     # 每多少帧检查一次配置文件
+  safe_keys_only: true    # 是否只更新安全参数（避免重启连接）
+
+# 可热重载的安全参数列表（这些参数可以安全更新而不需要重启）
+hot_reload_safe_keys:
+  - "conf_thres"          # 检测置信度阈值
+  - "iou_thres"           # IOU阈值
+  - "display_fps"         # 显示帧率
+  - "max_age"             # 跟踪最大丢失帧数
+  - "min_hits"            # 跟踪最小匹配次数
+  - "adaptive_fps"        # 是否启用自适应帧率
+  - "min_fps"             # 最小FPS
+  - "max_fps"             # 最大FPS
+  - "fov"                 # 相机视野
+  - "yolo_imgsz_max"      # YOLO输入尺寸
+  - "stop_speed_thresh"   # 停车速度阈值
+  - "danger_dist_thresh"  # 危险距离阈值
+  - "weather"             # 天气设置
\ No newline at end of file
diff --git a/src/tracking_car/main.py b/src/tracking_car/main.py
index 88cfab5497..06b02aea15 100644
--- a/src/tracking_car/main.py
+++ b/src/tracking_car/main.py
@@ -35,7 +35,7 @@
 
 def load_config(config_path=None):
     """
-    Load configuration
+    Load configuration with hot reload support
     
     Args:
         config_path: Path to configuration file
@@ -43,6 +43,9 @@ def load_config(config_path=None):
     Returns:
         dict: Configuration dictionary
     """
+    import os
+    import time
+    
     # Default configuration
     default_config = {
         # CARLA connection
@@ -97,20 +100,142 @@ def load_config(config_path=None):
         # Ego vehicle
         'ego_vehicle_filter': 'vehicle.tesla.model3',
         'ego_vehicle_color': '255,0,0',
+        
+        # ============ 新增：热重载默认配置 ============
+        'hot_reload': {
+            'enabled': True,
+            'check_interval': 100,
+            'safe_keys_only': True,
+        },
+        'hot_reload_safe_keys': [
+            'conf_thres', 'iou_thres', 'display_fps',
+            'max_age', 'min_hits', 'adaptive_fps',
+            'min_fps', 'max_fps', 'fov', 'yolo_imgsz_max',
+            'stop_speed_thresh', 'danger_dist_thresh', 'weather'
+        ],
+        
+        # 性能优化
+        'adaptive_fps': True,
+        'min_fps': 10,
+        'max_fps': 60,
+        
+        # 调试
+        'debug_detection': False,
+        'debug_tracking': False,
+        # =============================================
     }
     
-    # If config file is provided, try to load it
+    # 记录提供的配置文件路径
+    provided_config_path = config_path
+    
+    # 如果未提供配置文件路径，尝试查找默认文件
+    if not config_path:
+        possible_paths = [
+            'config.yaml',
+            'config_optimized.yaml',
+            './config/config.yaml',
+            '../config.yaml'
+        ]
+        
+        for path in possible_paths:
+            if os.path.exists(path):
+                config_path = path
+                logger.info(f"[CONFIG] 发现配置文件: {path}")
+                break
+    
+    # 如果找到配置文件，尝试加载它
     if config_path and os.path.exists(config_path):
-        loaded_config = utils.load_yaml_config(config_path)
-        if loaded_config:
-            # Merge configurations (loaded config overrides default)
-            for key, value in loaded_config.items():
-                if isinstance(value, dict) and key in default_config and isinstance(default_config[key], dict):
-                    # Recursive dictionary merge
-                    default_config[key].update(value)
-                else:
-                    default_config[key] = value
-            logger.info(f"[OK] Configuration file loaded: {config_path}")
+        try:
+            loaded_config = utils.load_yaml_config(config_path)
+            
+            if loaded_config:
+                logger.info(f"[CONFIG] 成功加载配置文件: {config_path}")
+                
+                # 深度合并配置字典
+                def deep_merge(target, source):
+                    """递归合并字典"""
+                    for key, value in source.items():
+                        if key in target and isinstance(target[key], dict) and isinstance(value, dict):
+                            # 递归合并字典
+                            deep_merge(target[key], value)
+                        else:
+                            # 直接赋值
+                            target[key] = value
+                    return target
+                
+                # 合并配置
+                default_config = deep_merge(default_config, loaded_config)
+                
+                # ============ 关键修复：确保配置路径正确记录 ============
+                # 使用绝对路径，避免相对路径问题
+                absolute_path = os.path.abspath(config_path)
+                default_config['_config_path'] = absolute_path
+                
+                # 获取文件修改时间
+                try:
+                    default_config['_config_mtime'] = os.path.getmtime(absolute_path)
+                    logger.info(f"[CONFIG] 配置文件路径: {absolute_path}")
+                    logger.info(f"[CONFIG] 最后修改时间: {time.strftime('%Y-%m-%d %H:%M:%S', time.localtime(default_config['_config_mtime']))}")
+                except Exception as e:
+                    logger.warning(f"[CONFIG] 无法获取文件修改时间: {e}")
+                    default_config['_config_mtime'] = 0
+                # ====================================================
+                
+                # 记录实际加载的配置文件路径（用于日志）
+                default_config['_loaded_config_path'] = config_path
+                
+            else:
+                logger.warning(f"[CONFIG] 配置文件内容为空或无效: {config_path}")
+                
+        except Exception as e:
+            logger.error(f"[CONFIG] 加载配置文件失败 {config_path}: {e}")
+            logger.info("[CONFIG] 将使用默认配置")
+    
+    elif provided_config_path:  # 用户指定了路径但文件不存在
+        logger.warning(f"[CONFIG] 指定的配置文件不存在: {provided_config_path}")
+        logger.info("[CONFIG] 将使用默认配置")
+    
+    else:
+        logger.info("[CONFIG] 未指定配置文件，使用默认配置")
+    
+    # ============ 修复：确保热重载配置存在 ============
+    # 确保 hot_reload 配置存在
+    if 'hot_reload' not in default_config:
+        default_config['hot_reload'] = {
+            'enabled': True,
+            'check_interval': 100,
+            'safe_keys_only': True,
+        }
+        logger.info("[CONFIG] 添加默认热重载配置")
+    
+    # 确保 hot_reload_safe_keys 存在
+    if 'hot_reload_safe_keys' not in default_config:
+        default_config['hot_reload_safe_keys'] = [
+            'conf_thres', 'iou_thres', 'display_fps',
+            'max_age', 'min_hits', 'adaptive_fps',
+            'min_fps', 'max_fps', 'fov', 'yolo_imgsz_max',
+            'stop_speed_thresh', 'danger_dist_thresh', 'weather'
+        ]
+    
+    # 确保 _config_path 存在（即使没有配置文件）
+    if '_config_path' not in default_config:
+        # 如果使用默认配置，创建一个虚拟路径
+        if provided_config_path and os.path.exists(provided_config_path):
+            default_config['_config_path'] = os.path.abspath(provided_config_path)
+        else:
+            # 使用当前目录的默认路径
+            default_config['_config_path'] = os.path.abspath('config.yaml')
+            logger.info(f"[CONFIG] 设置默认配置文件路径: {default_config['_config_path']}")
+    
+    # 确保 _config_mtime 存在
+    if '_config_mtime' not in default_config:
+        default_config['_config_mtime'] = 0
+    
+    # 记录最终使用的配置路径
+    config_path_display = default_config.get('_config_path', 'Unknown')
+    logger.info(f"[CONFIG] 最终配置路径: {config_path_display}")
+    logger.info(f"[CONFIG] 热重载状态: {'已启用' if default_config['hot_reload'].get('enabled', True) else '已禁用'}")
+    # =================================================
     
     return default_config
 
@@ -1072,34 +1197,72 @@ def draw_color_legend(self, image):
         
         return image
     
+    def _draw_info_panel(self, image, track_count):
+        """绘制信息面板（添加热重载状态）"""
+        h, w = image.shape[:2]
+        
+        # 信息面板背景（半透明黑色）
+        panel_height = 120  # 稍微增加高度
+        overlay = image.copy()
+        cv2.rectangle(overlay, (0, 0), (w, panel_height), (0, 0, 0), -1)
+        image = cv2.addWeighted(overlay, 0.7, image, 0.3, 0)
+        
+        # 标题
+        title = "CARLA Tracking System"
+        cv2.putText(image, title, (10, 30), 
+                   cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 255, 0), 2)
+    
+        status_lines = [
+            f"Objects: {track_count}",
+            f"ESC:Exit | W:Weather | S:Screenshot",
+            f"P:Pause | T:Stats | M:Legend",
+            f"L:PointCloud | V:View | R:Reload",
+        ]
+        
+        # 绘制状态信息
+        font = cv2.FONT_HERSHEY_SIMPLEX
+        for i, line in enumerate(status_lines):
+            y_pos = 55 + i * 20
+            cv2.putText(image, line, (10, y_pos), 
+                       font, 0.5, (255, 255, 255), 1)
+        
+        return image
+
     def show(self, image, stats_data=None):
         """
-        Display image and statistics window
-        
-        Args:
-            image: Main window image
-            stats_data: Statistics data (for updating statistics window)
-            
-        Returns:
-            int: Key value
+        显示图像和统计窗口（优化防闪烁）
         """
-        # Display main window
+        # 双缓冲：创建临时图像副本
         if utils.valid_img(image):
-            cv2.imshow(self.window_name, image)
+            display_image = image.copy()
         
-        # Update statistics window (update every few frames to avoid performance impact)
+            # 添加FPS显示到图像副本（而不是原图）
+            fps_text = f"FPS: {stats_data.get('fps', 0):.1f}" if stats_data else "FPS: N/A"
+            cv2.putText(display_image, fps_text, 
+                       (self.config.get('img_width', 640) - 100, 25),
+                       cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
+        
+            # 显示主窗口
+            cv2.imshow(self.window_name, display_image)
+    
+        # 优化统计窗口更新频率（降低到每5帧更新一次）
         if self.show_stats_window and stats_data is not None:
             self.stats_frame_counter += 1
-            
-            if self.stats_frame_counter >= self.stats_update_interval:
-                self.stats_image = self.create_stats_window_image(stats_data)
-                if self.stats_image is not None:
-                    cv2.imshow(self.stats_window_name, self.stats_image)
-                self.stats_frame_counter = 0
-        
-        # Wait for key (brief wait to maintain responsiveness)
-        return cv2.waitKey(1)
+        
+            # 每5帧更新一次统计窗口（原来是每2帧）
+            if self.stats_frame_counter >= 10:
+                try:
+                    self.stats_image = self.create_stats_window_image(stats_data)
+                    if self.stats_image is not None:
+                        # 使用双缓冲显示统计窗口
+                        cv2.imshow(self.stats_window_name, self.stats_image)
+                    self.stats_frame_counter = 0
+                except Exception as e:
+                    logger.debug(f"Stats window update failed: {e}")
     
+        # 等待键（稍微增加等待时间，减少CPU占用）
+        return cv2.waitKey(1) & 0xFF  # 添加 & 0xFF 确保跨平台兼容性
+        
     def destroy(self):
         """Destroy all windows"""
         # 销毁点云可视化器
@@ -1336,6 +1499,155 @@ def _collect_statistics_data(self, fps, detection_time, tracking_time, tracks_in
             'tracking_time': tracking_time,
         }
     
+    def _check_and_reload_config(self):
+        """
+        检查并重新加载配置文件
+        """
+        try:
+            # 1. 检查是否启用热重载
+            hot_reload_config = self.config.get('hot_reload', {})
+            if not hot_reload_config.get('enabled', True):
+                return
+        
+            # 2. 检查间隔
+            check_interval = hot_reload_config.get('check_interval', 100)
+            if self.frame_count % check_interval != 0:
+                return
+        
+            # 3. 获取配置文件路径
+            config_path = self.config.get('_config_path')
+            if not config_path:
+                logger.debug("[HOT RELOAD] 无配置文件路径")
+                return
+          
+            # 4. 检查文件是否存在
+            if not os.path.exists(config_path):
+                logger.warning(f"[HOT RELOAD] 配置文件不存在: {config_path}")
+                return
+        
+            # 5. 检查文件是否被修改
+            try:
+                current_mtime = os.path.getmtime(config_path)
+            except Exception as e:
+                logger.warning(f"[HOT RELOAD] 无法获取文件修改时间: {e}")
+                return
+        
+            last_mtime = self.config.get('_config_mtime', 0)
+         
+            if current_mtime <= last_mtime:
+                return  # 文件未修改
+        
+            logger.info("🔄 [HOT RELOAD] 检测到配置文件更新，重新加载...")
+        
+            # 6. 重新加载配置
+            new_config = load_config(config_path)
+         
+            # 7. 安全更新配置参数
+            safe_keys_only = hot_reload_config.get('safe_keys_only', True)
+            updated_keys = []
+        
+            if safe_keys_only:
+                # 只更新安全参数列表中的键
+                safe_keys = self.config.get('hot_reload_safe_keys', [])
+                for key in safe_keys:
+                    if key in new_config and key in self.config:
+                        old_val = self.config[key]
+                        new_val = new_config[key]
+                        if old_val != new_val:
+                            self.config[key] = new_val
+                            updated_keys.append((key, old_val, new_val))
+            else:
+                # 更新所有参数（危险模式）
+                for key, new_val in new_config.items():
+                    if not key.startswith('_'):  # 跳过内部键
+                        old_val = self.config.get(key)
+                        if old_val != new_val:
+                            self.config[key] = new_val
+                            updated_keys.append((key, old_val, new_val))
+        
+            # 8. 更新配置文件修改时间
+            self.config['_config_mtime'] = current_mtime
+        
+            # 9. 应用配置更新到各组件
+            if updated_keys:
+                self._apply_config_updates(updated_keys)
+            
+                # 打印更新日志
+                logger.info("✅ [HOT RELOAD] 配置更新完成:")
+                for key, old_val, new_val in updated_keys:
+                    logger.info(f"     {key}: {old_val} → {new_val}")
+            else:
+                logger.info("📝 [HOT RELOAD] 配置文件已重新加载，但无参数变化")
+            
+        except Exception as e:
+            logger.warning(f"[HOT RELOAD] 配置更新失败: {e}")
+            import traceback
+            traceback.print_exc()
+                
+    def _apply_config_updates(self, updated_keys):
+        """
+        将配置更新应用到各组件
+        """
+        for key, old_val, new_val in updated_keys:
+            try:
+                # 1. 应用到检测器
+                if self.detector:
+                    if key == 'conf_thres':
+                        self.detector.conf_thres = new_val
+                        logger.debug(f"更新检测器置信度阈值: {new_val}")
+                    elif key == 'iou_thres':
+                        self.detector.iou_thres = new_val
+                        logger.debug(f"更新检测器IOU阈值: {new_val}")
+                    elif key == 'yolo_imgsz_max':
+                        logger.warning("⚠️ YOLO输入尺寸变更需要重启检测器才能生效")
+                
+                # 2. 应用到跟踪器
+                if self.tracker:
+                    if key == 'max_age':
+                        self.tracker.max_age = new_val
+                        logger.debug(f"更新跟踪器max_age: {new_val}")
+                    elif key == 'min_hits':
+                        self.tracker.min_hits = new_val
+                        logger.debug(f"更新跟踪器min_hits: {new_val}")
+                    elif key == 'iou_thres':
+                        self.tracker.iou_threshold = new_val
+                        logger.debug(f"更新跟踪器IOU阈值: {new_val}")
+                
+                # 3. 应用到传感器
+                if self.sensor_manager:
+                    if key == 'fov':
+                        logger.warning("⚠️ 相机FOV变更需要重启传感器才能生效")
+                    elif key == 'use_lidar':
+                        logger.warning("⚠️ LiDAR开关变更需要重启程序才能生效")
+                
+                # 4. 应用到行为分析参数
+                if key in ['stop_speed_thresh', 'danger_dist_thresh']:
+                    logger.debug(f"更新行为分析参数 {key}: {new_val}")
+                
+                # 5. 应用到天气
+                if key == 'weather' and self.world:
+                    from sensors import set_weather  # 需要导入
+                    set_weather(self.world, new_val)
+                    logger.info(f"🌤️  天气已更新: {new_val}")
+                
+                # 6. 帧率相关参数已在 _control_frame_rate 中处理
+                
+            except Exception as e:
+                logger.warning(f"[热重载] 应用配置更新失败 {key}: {e}")
+    
+    def _force_reload_config(self):
+        """
+        强制重新加载配置文件（手动触发）
+        """
+        config_path = self.config.get('_config_path')
+        if not config_path or not os.path.exists(config_path):
+            logger.warning("无法强制重载：配置文件路径无效")
+            return
+        
+        logger.info("🔄 [热重载] 手动触发配置重新加载...")
+        # 强制将修改时间设为0，确保会重新加载
+        self.config['_config_mtime'] = 0
+
     def run(self):
         """Run main loop"""
         import time
@@ -1424,6 +1736,23 @@ def run(self):
                     tracks_info=tracks_info
                 )
                 
+                # 10. 显示结果（传递统计数据）
+                key = self.visualizer.show(result_image, stats_data=stats_data)
+                
+                # 11. 处理键盘输入
+                self._handle_keyboard_input(key)
+                
+                # 12. 帧率控制
+                self._control_frame_rate(fps)
+                
+                # ============ 新增：热重载检查 ============
+                self._check_and_reload_config()
+                # ========================================
+                
+                # 13. 更新状态
+                self.frame_count += 1
+                self.perf_monitor.end_frame()
+
                 # 添加点云显示（新增）
                 if sensor_data.get('pointcloud') is not None:
                     self.visualizer.update_pointcloud(sensor_data['pointcloud'])
@@ -1527,6 +1856,10 @@ def _handle_keyboard_input(self, key):
                 }
                 mode_name = mode_names.get(current_mode, current_mode)
                 logger.info(f"[VIEW] 切换到 {mode_name}")
+        
+         # 新增：R键手动重载配置 
+        elif key == ord('r') or key == ord('R'):
+            self._force_reload_config()
 
     def _control_frame_rate(self, current_fps):
         """自适应帧率控制（简单版）"""