diff --git a/frogpilot/assets/nnff_models/TOYOTA_WILDLANDER_PHEV.json b/frogpilot/assets/nnff_models/TOYOTA_WILDLANDER_PHEV.json
new file mode 100644
index 0000000..c219d98
--- /dev/null
+++ b/frogpilot/assets/nnff_models/TOYOTA_WILDLANDER_PHEV.json
@@ -0,0 +1 @@
+{"input_std":[[9.668097],[1.5244726],[1.2700657],[0.03216253],[1.6078212],[1.5848233],[1.5577372],[1.3927742],[1.2935301],[1.1931615],[1.1020583],[0.032136116],[0.03217024],[0.032196537],[0.03225218],[0.032214258],[0.032031752],[0.03179372]],"model_test_loss":0.018995385617017746,"input_size":18,"current_date_and_time":"2025-05-15_14-47-45","input_mean":[[18.09652],[-0.017798662],[0.027145168],[-0.0054331655],[-0.025215305],[-0.022640774],[-0.019500963],[-0.010056124],[-0.0057649272],[0.001960505],[0.0020118994],[-0.005499858],[-0.005477372],[-0.005444631],[-0.0053683305],[-0.005257134],[-0.005035867],[-0.0050971555]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.016405884],[1.4187009],[-0.30671495],[-1.4047697],[-0.20383339],[-0.3632745],[-0.028944347]],"dense_1_W":[[0.13070685,-0.6662394,-1.0739188,-0.41523784,0.019285621,-0.5666617,0.02941118,0.2413377,0.11430891,-0.15557496,-0.36541316,0.44118378,0.038414165,0.117383294,-0.026998837,-0.3802126,-0.23443018,0.43427357],[0.5493235,0.7341044,0.30259728,-0.09170222,-0.066015296,0.41798133,-0.062179696,-0.1925674,-0.15322368,0.017662844,0.21162434,-0.12112619,-0.027021965,0.05653779,0.14749303,0.28017008,-0.15880422,-0.07834965],[1.3052936,-0.038109165,1.2192534,-0.18676366,0.21888737,0.45998427,0.94506985,-0.87686205,0.044812016,-0.07512292,0.69492793,-0.59623814,0.3278255,0.39913544,0.15354112,0.04995451,-0.031020898,-0.10582342],[-0.4683151,1.0002598,0.29120648,-0.05860625,0.010191997,0.17896307,-0.3321235,0.19332078,-0.44497126,0.09236495,0.17685813,0.022076255,-0.23972619,0.11622197,0.11574386,0.1640551,0.028836682,-0.14775941],[1.2240227,0.5504716,-1.161672,0.10151114,-0.6311718,-0.4365897,-0.63896364,0.4033335,0.012773022,0.025944846,-0.62420815,0.05751297,0.043608528,-0.13193272,-0.33345297,0.18925929,0.0925279,-0.03600548],[-0.0033800902,-0.41361037,-8.50345,0.27523437,2.0881453,2.3587928,2.1091182,-2.467406,-1.9167688,-0.8961217,-0.22510983,0.037862107,-0.23643681,0.03247474,0.067485854,0.04660773,-0.2583531,0.077512406],[0.0035197088,-0.43985325,0.07051937,0.38219255,-0.67769414,-0.29911998,1.0818627,-0.6217103,-0.5443828,0.22882973,0.013560748,-0.29820752,0.11540977,-0.40309906,-0.00034299958,0.69976795,0.13301164,-0.32934943]],"activation":"σ"},{"dense_2_W":[[-0.014842439,-0.3306524,0.254514,-0.6639507,-0.534733,0.07840164,0.2324318],[-0.15334646,-0.290343,-1.047474,0.41780674,0.04612693,-0.73001504,-0.3465528],[-0.6260714,-0.5115335,-0.71161246,0.4046027,-1.2324069,-1.2851475,-0.16620061],[-0.05566019,0.48536706,-0.42460826,0.83332616,0.47045597,-0.061004266,-1.1440438],[0.42156544,-0.6722497,-0.10824958,-0.32994938,0.31952205,-0.46266714,-0.07230821],[-0.38416666,-0.7271572,-0.39645803,-0.4259647,-0.24740903,-0.17667961,-0.10970643],[0.19652602,0.026280575,-0.1651507,-0.38475782,-0.5457258,-0.1882665,0.82107437],[-0.08976335,0.35238677,0.25231764,0.004611504,-0.5936927,-0.29342756,-0.22477138],[0.25490662,-0.4851788,-0.07538396,-0.36808714,-0.05157315,-0.2439695,0.9720866],[0.48479185,-0.68759876,0.42557424,-0.56957704,-0.32759178,-0.3047872,0.7597776],[0.4211342,-1.4932247,-0.66635305,-0.10591562,-0.9298172,1.04872,0.32208702],[-0.2918295,0.63893354,0.044817235,0.87641054,0.38387123,-0.48429132,-0.8803729],[-0.60936576,-0.29061803,-0.94329685,0.6586833,0.15280105,-0.8124564,-0.538523]],"activation":"σ","dense_2_b":[[-0.009386154],[-0.25074136],[0.02986496],[-0.028872054],[-0.06481484],[-0.2976481],[-0.072934344],[-0.117011935],[0.028236326],[-0.009000545],[-0.42297846],[0.030614687],[-0.105583444]]},{"dense_3_W":[[-0.035136532,-0.27008098,-0.5048698,-0.5295355,0.29823285,0.5058221,-0.09186966,0.26433602,0.50751793,0.49806535,0.8154631,-0.5854975,-0.525581],[0.08374179,0.16962804,0.2263017,0.5973136,0.2815238,-0.0505521,0.26001385,0.36577544,-0.68805265,-0.8057493,-0.42594707,0.633128,0.08724391],[0.5107981,0.064214274,-0.061156582,-0.33331737,0.07700428,-0.40398338,0.3673148,-0.42669702,0.38095382,0.33056983,-0.3025643,-0.58125204,-0.3484819]],"activation":"identity","dense_3_b":[[0.01880667],[-0.04986152],[0.030190725]]},{"dense_4_W":[[-1.0120764,0.477425,-1.0690569]],"dense_4_b":[[-0.027314244]],"activation":"identity"}]}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 1525bf1..b5e760f 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -10,6 +10,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
 "TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2"
+"TOYOTA_WILDLANDER_PHEV" = "TOYOTA_RAV4_TSS2"
 "TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 295188c..322ab97 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -207,7 +207,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
       # distance button is wired to the ACC module (camera or radar)
       self.prev_distance_button = self.distance_button
-      if self.CP.carFingerprint in (SECOC_CAR - RADAR_ACC_CAR):
+      if self.CP.carFingerprint in (SECOC_CAR - RADAR_ACC_CAR) and self.CP.carFingerprint not in [CAR.TOYOTA_WILDLANDER_PHEV]:
         self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
       elif self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
         self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
@@ -277,7 +277,7 @@ class CarState(CarStateBase):
         ("SECOC_SYNCHRONIZATION", 10),
         ("GAS_PEDAL", 42),
       ]
-      if CP.carFingerprint not in RADAR_ACC_CAR:
+      if CP.carFingerprint not in RADAR_ACC_CAR and CP.carFingerprint not in [CAR.TOYOTA_WILDLANDER_PHEV]:
         messages.append(("PCM_CRUISE_4", 1))
     else:
       messages.append(("VSC1S07", 20))
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 025f775..ee9cbb8 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1047,6 +1047,29 @@ FW_VERSIONS = {
       b'\x028646F4210100\x00\x00\x00\x008646G3305000\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_WILDLANDER_PHEV: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630R57001\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F152642C4000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4221000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R01000\x00\x00\x00\x008646G4202000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+    ],
+    (Ecu.srs, 0x780, None): [
+      b'\x018917F0R18000\x00\x00\x00\x00'
+    ],
+    (Ecu.hybrid, 0x7d2, None): [
+      b'\x02899830R24000\x00\x00\x00\x00899850R05000\x00\x00\x00\x00'
+    ],
+  },
   CAR.TOYOTA_RAV4_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630R58000\x00\x00\x00\x00',
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 7cc9300..49a74cf 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -73,7 +73,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       ret.wheelSpeedFactor = 1.035
 
-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
+    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN, CAR.TOYOTA_WILDLANDER_PHEV):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index bd87e33..91bc587 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -271,6 +271,10 @@ class CAR(Platforms):
     [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
   )
+  TOYOTA_WILDLANDER_PHEV = ToyotaSecOCPlatformConfig(
+    [ToyotaCarDocs("Toyota Wildlander PHEV 2021-23", min_enable_speed=MIN_ACC_SPEED)],
+    CarSpecs(mass=4155. * CV.LB_TO_KG, wheelbase=2.69, steerRatio=16.88, tireStiffnessFactor=0.5533),
+  )
   TOYOTA_YARIS = ToyotaSecOCPlatformConfig(
     [ToyotaCarDocs("Toyota Yaris (Non-US only) 2020, 2023", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 67d3489..c545eb9 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -435,7 +435,8 @@ class Controls:
     if not SIMULATION or REPLAY:
       # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
       if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1500):
-        self.events.add(EventName.noGps)
+        # self.events.add(EventName.noGps)
+        pass
       if self.sm['liveLocationKalman'].gpsOK:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 8499ee8..a517adb 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -155,7 +155,7 @@ class Alert:
 
 class NoEntryAlert(Alert):
   def __init__(self, alert_text_2: str,
-               alert_text_1: str = "openpilot Unavailable",
+               alert_text_1: str = "openpilot 不可用",
                visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
     super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
                      AlertSize.mid, Priority.LOW, visual_alert,
@@ -164,7 +164,7 @@ class NoEntryAlert(Alert):
 
 class SoftDisableAlert(Alert):
   def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+    super().__init__("立即接管控制", alert_text_2,
                      AlertStatus.userPrompt, AlertSize.full,
                      Priority.MID, VisualAlert.steerRequired,
                      AudibleAlert.warningSoft, 2.),
@@ -174,12 +174,12 @@ class SoftDisableAlert(Alert):
 class UserSoftDisableAlert(SoftDisableAlert):
   def __init__(self, alert_text_2: str):
     super().__init__(alert_text_2),
-    self.alert_text_1 = "openpilot will disengage"
+    self.alert_text_1 = "openpilot 即将退出"
 
 
 class ImmediateDisableAlert(Alert):
   def __init__(self, alert_text_2: str):
-    super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
+    super().__init__("立即接管控制", alert_text_2,
                      AlertStatus.critical, AlertSize.full,
                      Priority.HIGHEST, VisualAlert.steerRequired,
                      AudibleAlert.warningImmediate, 4.),
@@ -201,7 +201,7 @@ class NormalPermanentAlert(Alert):
 
 
 class StartupAlert(Alert):
-  def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
+  def __init__(self, alert_text_1: str, alert_text_2: str = "始终保持双手在方向盘上，眼睛注视道路", alert_status=AlertStatus.normal):
     super().__init__(alert_text_1, alert_text_2,
                      alert_status, AlertSize.mid,
                      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
@@ -238,25 +238,25 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   if "REPLAY" in os.environ:
     branch = "replay"
 
-  return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
+  return StartupAlert("警告：此分支未经测试", branch, alert_status=AlertStatus.userPrompt)
 
 def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
-  return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
+  return NoEntryAlert(f"车速超过 {get_display_speed(CP.minEnableSpeed, metric)} 才能启用")
 
 
 def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   return Alert(
-    f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
+    f"车速低于 {get_display_speed(CP.minSteerSpeed, metric)} 时转向不可用",
     "",
     AlertStatus.userPrompt, AlertSize.small,
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
-  first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
+  first_word = '重新校准' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else '校准'
   return Alert(
-    f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
-    f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
+    f"{first_word}进行中: {sm['liveCalibration'].calPerc:.0f}%",
+    f"车速超过 {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
@@ -265,77 +265,77 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   full_perc = round(100. - sm['deviceState'].freeSpacePercent)
-  return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
+  return NormalPermanentAlert("存储空间不足", f"已使用 {full_perc}%")
 
 
 def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
   err = CS.vEgo - mdl
-  msg = f"Speed Error: {err:.1f} m/s"
-  return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
+  msg = f"速度误差: {err:.1f} m/s"
+  return NoEntryAlert(msg, alert_text_1="Posenet 速度无效")
 
 
 def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
   msg = ', '.join(not_running)
-  return NoEntryAlert(msg, alert_text_1="Process Not Running")
+  return NoEntryAlert(msg, alert_text_1="进程未运行")
 
 
 def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
   msg = ', '.join(bs[:4])  # can't fit too many on one line
-  return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
+  return NoEntryAlert(msg, alert_text_1="进程间通信问题")
 
 
 def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
   bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
-  return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
+  return NormalPermanentAlert("摄像头故障", ', '.join(bad_cams))
 
 
 def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   rpy = sm['liveCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
   pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
-  angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
-  return NormalPermanentAlert("Calibration Invalid", angles)
+  angles = f"重新安装设备 (俯仰角: {pitch:.1f}°, 偏航角: {yaw:.1f}°)"
+  return NormalPermanentAlert("校准无效", angles)
 
 
 def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   cpu = max(sm['deviceState'].cpuTempC, default=0.)
   gpu = max(sm['deviceState'].gpuTempC, default=0.)
   temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
-  return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C")
+  return NormalPermanentAlert("系统过热", f"{temp:.0f} °C")
 
 
 def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
-  return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
+  return NormalPermanentAlert("内存不足", f"已使用 {sm['deviceState'].memoryUsagePercent}%")
 
 
 def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   x = max(sm['deviceState'].cpuUsagePercent, default=0.)
-  return NormalPermanentAlert("High CPU Usage", f"{x}% used")
+  return NormalPermanentAlert("CPU 使用率过高", f"已使用 {x}%")
 
 
 def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
-  return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
+  return NormalPermanentAlert("驾驶模型延迟", f"{sm['modelV2'].frameDropPerc:.1f}% 帧丢失")
 
 
 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   if frogpilot_toggles.has_cc_long:
-    text = "Enable Cruise Control to Engage"
+    text = "启用巡航控制以激活"
   elif CP.carName == "honda":
-    text = "Enable Main Switch to Engage"
+    text = "启用主开关以激活"
   else:
-    text = "Enable Adaptive Cruise to Engage"
+    text = "启用自适应巡航以激活"
   return NoEntryAlert(text)
 
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   axes = sm['testJoystick'].axes
   gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
-  vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
-  return NormalPermanentAlert("Joystick Mode", vals)
+  vals = f"油门: {round(gb * 100.)}%, 转向: {round(steer * 100.)}%"
+  return NormalPermanentAlert("操纵杆模式", vals)
 
 
 # FrogPilot alerts
@@ -345,30 +345,30 @@ def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   model_length = sm["frogpilotPlan"].forcingStopLength
-  model_length_msg = f"{model_length:.1f} meters" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} feet"
+  model_length_msg = f"{model_length:.1f} 米" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} 英尺"
 
   return Alert(
-    f"Forcing the car to stop in {model_length_msg}",
-    "Press the gas pedal or 'Resume' button to override",
+    f"强制车辆在 {model_length_msg} 后停止",
+    "踩油门或按'恢复'按钮可覆盖",
     FrogPilotAlertStatus.frogpilot, AlertSize.mid,
     Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.)
 
 
 def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   holiday_messages = {
-    "new_years": "Happy New Year! 🎉",
-    "valentines": "Happy Valentine's Day! ❤️",
-    "st_patricks": "Happy St. Patrick's Day! 🍀",
-    "world_frog_day": "Happy World Frog Day! 🐸",
-    "april_fools": "Happy April Fool's Day! 🤡",
-    "easter_week": "Happy Easter! 🐰",
-    "may_the_fourth": "May the 4th be with you! 🚀",
-    "cinco_de_mayo": "¡Feliz Cinco de Mayo! 🌮",
-    "stitch_day": "Happy Stitch Day! 💙",
-    "fourth_of_july": "Happy Fourth of July! 🎆",
-    "halloween_week": "Happy Halloween! 🎃",
-    "thanksgiving_week": "Happy Thanksgiving! 🦃",
-    "christmas_week": "Merry Christmas! 🎄",
+    "new_years": "新年快乐！🎉",
+    "valentines": "情人节快乐！❤️",
+    "st_patricks": "圣帕特里克节快乐！🍀",
+    "world_frog_day": "世界青蛙日快乐！🐸",
+    "april_fools": "愚人节快乐！🤡",
+    "easter_week": "复活节快乐！🐰",
+    "may_the_fourth": "愿原力与你同在！🚀",
+    "cinco_de_mayo": "五月五日节快乐！🌮",
+    "stitch_day": "史迪奇日快乐！💙",
+    "fourth_of_july": "独立日快乐！🎆",
+    "halloween_week": "万圣节快乐！🎃",
+    "thanksgiving_week": "感恩节快乐！🦃",
+    "christmas_week": "圣诞快乐！🎄",
   }
 
   return Alert(
@@ -380,11 +380,11 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
 
 def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   lane_width = sm["frogpilotPlan"].laneWidthLeft if CS.leftBlinker else sm["frogpilotPlan"].laneWidthRight
-  lane_width_msg = f"{lane_width:.1f} meters" if metric else f"{lane_width * CV.METER_TO_FOOT:.1f} feet"
+  lane_width_msg = f"{lane_width:.1f} 米" if metric else f"{lane_width * CV.METER_TO_FOOT:.1f} 英尺"
 
   return Alert(
-    "No lane available",
-    f"Detected lane width is only {lane_width_msg}",
+    "无可用车道",
+    f"检测到的车道宽度仅为 {lane_width_msg}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
@@ -393,13 +393,13 @@ def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   model_name = Params().get("NNFFModelName", encoding="utf-8")
   if model_name is None:
     return Alert(
-      "NNFF Torque Controller not available",
-      "Donate logs to Twilsonco to get your car supported!",
+      "NNFF 扭矩控制器不可用",
+      "向 Twilsonco 捐赠日志以支持您的车辆！",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 10.0)
   else:
     return Alert(
-      "NNFF Torque Controller loaded",
+      "NNFF 扭矩控制器已加载",
       model_name,
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0)
@@ -415,15 +415,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.joystickDebug: {
     ET.WARNING: joystick_alert,
-    ET.PERMANENT: NormalPermanentAlert("Joystick Mode"),
+    ET.PERMANENT: NormalPermanentAlert("操纵杆模式"),
   },
 
   EventName.controlsInitializing: {
-    ET.NO_ENTRY: NoEntryAlert("System Initializing"),
+    ET.NO_ENTRY: NoEntryAlert("系统初始化中"),
   },
 
   EventName.startup: {
-    ET.PERMANENT: StartupAlert("Be ready to take over at any time")
+    ET.PERMANENT: StartupAlert("随时准备接管控制")
   },
 
   EventName.startupMaster: {
@@ -432,35 +432,35 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   # Car is recognized, but marked as dashcam only
   EventName.startupNoControl: {
-    ET.PERMANENT: StartupAlert("Dashcam mode"),
-    ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
+    ET.PERMANENT: StartupAlert("行车记录仪模式"),
+    ET.NO_ENTRY: NoEntryAlert("行车记录仪模式"),
   },
 
   # Car is not recognized
   EventName.startupNoCar: {
-    ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"),
+    ET.PERMANENT: StartupAlert("不支持车辆的行车记录仪模式"),
   },
 
   EventName.startupNoFw: {
-    ET.PERMANENT: StartupAlert("Car Unrecognized",
-                               "Check comma power connections",
+    ET.PERMANENT: StartupAlert("车辆未识别",
+                               "检查 comma 电源连接",
                                alert_status=AlertStatus.userPrompt),
   },
 
   EventName.startupNoSecOcKey: {
-    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
-                                       "Security Key Not Available",
+    ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
+                                       "安全密钥不可用",
                                        priority=Priority.HIGH),
   },
 
   EventName.dashcamMode: {
-    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+    ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
                                        priority=Priority.LOWEST),
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Stock LKAS is on",
-                                       "Turn off stock LKAS to engage"),
+    ET.PERMANENT: NormalPermanentAlert("原厂 LKAS 已开启",
+                                       "关闭原厂 LKAS 以激活"),
   },
 
   EventName.cruiseMismatch: {
@@ -471,31 +471,31 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # read-only mode. This can be solved by adding your fingerprint.
   # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
   EventName.carUnrecognized: {
-    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
-                                       "Car Unrecognized",
+    ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
+                                       "车辆未识别",
                                        priority=Priority.LOWEST),
   },
 
   EventName.stockAeb: {
     ET.PERMANENT: Alert(
-      "BRAKE!",
-      "Stock AEB: Risk of Collision",
+      "刹车！",
+      "原厂 AEB：碰撞风险",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 2.),
-    ET.NO_ENTRY: NoEntryAlert("Stock AEB: Risk of Collision"),
+    ET.NO_ENTRY: NoEntryAlert("原厂 AEB：碰撞风险"),
   },
 
   EventName.fcw: {
     ET.PERMANENT: Alert(
-      "BRAKE!",
-      "Risk of Collision",
+      "刹车！",
+      "碰撞风险",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.warningSoft, 2.),
   },
 
   EventName.ldw: {
     ET.PERMANENT: Alert(
-      "Lane Departure Detected",
+      "检测到车道偏离",
       "",
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
@@ -505,7 +505,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.steerTempUnavailableSilent: {
     ET.WARNING: Alert(
-      "Steering Temporarily Unavailable",
+      "转向暂时不可用",
       "",
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
@@ -513,7 +513,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.preDriverDistracted: {
     ET.PERMANENT: Alert(
-      "Pay Attention",
+      "请注意",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -521,23 +521,23 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.promptDriverDistracted: {
     ET.PERMANENT: Alert(
-      "Pay Attention",
-      "Driver Distracted",
+      "请注意",
+      "驾驶员分心",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
   EventName.driverDistracted: {
     ET.PERMANENT: Alert(
-      "DISENGAGE IMMEDIATELY",
-      "Driver Distracted",
+      "立即退出",
+      "驾驶员分心",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
   EventName.preDriverUnresponsive: {
     ET.PERMANENT: Alert(
-      "Touch Steering Wheel: No Face Detected",
+      "触摸方向盘：未检测到面部",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1, alert_rate=0.75),
@@ -545,31 +545,31 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.promptDriverUnresponsive: {
     ET.PERMANENT: Alert(
-      "Touch Steering Wheel",
-      "Driver Unresponsive",
+      "触摸方向盘",
+      "驾驶员无响应",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
   },
 
   EventName.driverUnresponsive: {
     ET.PERMANENT: Alert(
-      "DISENGAGE IMMEDIATELY",
-      "Driver Unresponsive",
+      "立即退出",
+      "驾驶员无响应",
       AlertStatus.critical, AlertSize.full,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
   },
 
   EventName.manualRestart: {
     ET.WARNING: Alert(
-      "TAKE CONTROL",
-      "Resume Driving Manually",
+      "接管控制",
+      "手动恢复驾驶",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.resumeRequired: {
     ET.WARNING: Alert(
-      "Press Resume to Exit Standstill",
+      "按恢复键退出停车状态",
       "",
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
@@ -581,7 +581,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.preLaneChangeLeft: {
     ET.WARNING: Alert(
-      "Steer Left to Start Lane Change Once Safe",
+      "安全时向左转向开始变道",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
@@ -589,7 +589,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.preLaneChangeRight: {
     ET.WARNING: Alert(
-      "Steer Right to Start Lane Change Once Safe",
+      "安全时向右转向开始变道",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
@@ -597,7 +597,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.laneChangeBlocked: {
     ET.WARNING: Alert(
-      "Car Detected in Blindspot",
+      "检测到盲区有车辆",
       "",
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, .1),
@@ -605,7 +605,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.laneChange: {
     ET.WARNING: Alert(
-      "Changing Lanes",
+      "正在变道",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
@@ -613,41 +613,41 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.steerSaturated: {
     ET.WARNING: Alert(
-      "Take Control",
-      "Turn Exceeds Steering Limit",
+      "接管控制",
+      "转向超出转向限制",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
   },
 
   # Thrown when the fan is driven at >50% but is not rotating
   EventName.fanMalfunction: {
-    ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Likely Hardware Issue"),
+    ET.PERMANENT: NormalPermanentAlert("风扇故障", "可能是硬件问题"),
   },
 
   # Camera is not outputting frames
   EventName.cameraMalfunction: {
     ET.PERMANENT: camera_malfunction_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Camera Malfunction"),
-    ET.NO_ENTRY: NoEntryAlert("Camera Malfunction: Reboot Your Device"),
+    ET.SOFT_DISABLE: soft_disable_alert("摄像头故障"),
+    ET.NO_ENTRY: NoEntryAlert("摄像头故障：重启设备"),
   },
   # Camera framerate too low
   EventName.cameraFrameRate: {
-    ET.PERMANENT: NormalPermanentAlert("Camera Frame Rate Low", "Reboot your Device"),
-    ET.SOFT_DISABLE: soft_disable_alert("Camera Frame Rate Low"),
-    ET.NO_ENTRY: NoEntryAlert("Camera Frame Rate Low: Reboot Your Device"),
+    ET.PERMANENT: NormalPermanentAlert("摄像头帧率过低", "重启设备"),
+    ET.SOFT_DISABLE: soft_disable_alert("摄像头帧率过低"),
+    ET.NO_ENTRY: NoEntryAlert("摄像头帧率过低：重启设备"),
   },
 
   # Unused
 
   EventName.locationdTemporaryError: {
-    ET.NO_ENTRY: NoEntryAlert("locationd Temporary Error"),
-    ET.SOFT_DISABLE: soft_disable_alert("locationd Temporary Error"),
+    ET.NO_ENTRY: NoEntryAlert("locationd 临时错误"),
+    ET.SOFT_DISABLE: soft_disable_alert("locationd 临时错误"),
   },
 
   EventName.locationdPermanentError: {
-    ET.NO_ENTRY: NoEntryAlert("locationd Permanent Error"),
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd Permanent Error"),
-    ET.PERMANENT: NormalPermanentAlert("locationd Permanent Error"),
+    ET.NO_ENTRY: NoEntryAlert("locationd 永久错误"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd 永久错误"),
+    ET.PERMANENT: NormalPermanentAlert("locationd 永久错误"),
   },
 
   # openpilot tries to learn certain parameters about your car by observing
@@ -659,14 +659,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # This alert is thrown when any of these values exceed a sanity check. This can be caused by
   # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
   EventName.paramsdTemporaryError: {
-    ET.NO_ENTRY: NoEntryAlert("paramsd Temporary Error"),
-    ET.SOFT_DISABLE: soft_disable_alert("paramsd Temporary Error"),
+    ET.NO_ENTRY: NoEntryAlert("paramsd 临时错误"),
+    ET.SOFT_DISABLE: soft_disable_alert("paramsd 临时错误"),
   },
 
   EventName.paramsdPermanentError: {
-    ET.NO_ENTRY: NoEntryAlert("paramsd Permanent Error"),
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd Permanent Error"),
-    ET.PERMANENT: NormalPermanentAlert("paramsd Permanent Error"),
+    ET.NO_ENTRY: NoEntryAlert("paramsd 永久错误"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd 永久错误"),
+    ET.PERMANENT: NormalPermanentAlert("paramsd 永久错误"),
   },
 
   # ********** events that affect controls state transitions **********
@@ -685,28 +685,28 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.buttonCancel: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"),
+    ET.NO_ENTRY: NoEntryAlert("取消按钮已按下"),
   },
 
   EventName.brakeHold: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+    ET.NO_ENTRY: NoEntryAlert("刹车保持激活"),
   },
 
   EventName.parkBrake: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
+    ET.NO_ENTRY: NoEntryAlert("驻车制动已启用"),
   },
 
   EventName.pedalPressed: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed",
+    ET.NO_ENTRY: NoEntryAlert("踏板已按下",
                               visual_alert=VisualAlert.brakePressed),
   },
 
   EventName.preEnableStandstill: {
     ET.PRE_ENABLE: Alert(
-      "Release Brake to Engage",
+      "松开刹车以激活",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
@@ -734,27 +734,27 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.resumeBlocked: {
-    ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"),
+    ET.NO_ENTRY: NoEntryAlert("按设置键以激活"),
   },
 
   EventName.wrongCruiseMode: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
-    ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"),
+    ET.NO_ENTRY: NoEntryAlert("自适应巡航已禁用"),
   },
 
   EventName.steerTempUnavailable: {
-    ET.SOFT_DISABLE: soft_disable_alert("Steering Temporarily Unavailable"),
-    ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
+    ET.SOFT_DISABLE: soft_disable_alert("转向暂时不可用"),
+    ET.NO_ENTRY: NoEntryAlert("转向暂时不可用"),
   },
 
   EventName.steerTimeLimit: {
-    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
+    ET.SOFT_DISABLE: soft_disable_alert("车辆转向时间限制"),
+    ET.NO_ENTRY: NoEntryAlert("车辆转向时间限制"),
   },
 
   EventName.outOfSpace: {
     ET.PERMANENT: out_of_space_alert,
-    ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
+    ET.NO_ENTRY: NoEntryAlert("存储空间不足"),
   },
 
   EventName.belowEngageSpeed: {
@@ -763,40 +763,40 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
-      "Sensor Data Invalid",
-      "Possible Hardware Issue",
+      "传感器数据无效",
+      "可能是硬件问题",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
-    ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
+    ET.NO_ENTRY: NoEntryAlert("传感器数据无效"),
+    ET.SOFT_DISABLE: soft_disable_alert("传感器数据无效"),
   },
 
   EventName.noGps: {
     ET.PERMANENT: Alert(
-      "Poor GPS reception",
-      "Ensure device has a clear view of the sky",
+      "GPS 信号差",
+      "确保设备有清晰的天空视野",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
   EventName.soundsUnavailable: {
-    ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
-    ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
+    ET.PERMANENT: NormalPermanentAlert("未找到扬声器", "重启设备"),
+    ET.NO_ENTRY: NoEntryAlert("未找到扬声器"),
   },
 
   EventName.tooDistracted: {
-    ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
+    ET.NO_ENTRY: NoEntryAlert("分心程度过高"),
   },
 
   EventName.overheat: {
     ET.PERMANENT: overheat_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
-    ET.NO_ENTRY: NoEntryAlert("System Overheated"),
+    ET.SOFT_DISABLE: soft_disable_alert("系统过热"),
+    ET.NO_ENTRY: NoEntryAlert("系统过热"),
   },
 
   EventName.wrongGear: {
-    ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"),
-    ET.NO_ENTRY: NoEntryAlert("Gear not D"),
+    ET.SOFT_DISABLE: user_soft_disable_alert("档位不在 D 档"),
+    ET.NO_ENTRY: NoEntryAlert("档位不在 D 档"),
   },
 
   # This alert is thrown when the calibration angles are outside of the acceptable range.
@@ -806,40 +806,40 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # See https://comma.ai/setup for more information
   EventName.calibrationInvalid: {
     ET.PERMANENT: calibration_invalid_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Calibration Invalid: Remount Device & Recalibrate"),
-    ET.NO_ENTRY: NoEntryAlert("Calibration Invalid: Remount Device & Recalibrate"),
+    ET.SOFT_DISABLE: soft_disable_alert("校准无效：重新安装设备并重新校准"),
+    ET.NO_ENTRY: NoEntryAlert("校准无效：重新安装设备并重新校准"),
   },
 
   EventName.calibrationIncomplete: {
     ET.PERMANENT: calibration_incomplete_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
-    ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
+    ET.SOFT_DISABLE: soft_disable_alert("校准未完成"),
+    ET.NO_ENTRY: NoEntryAlert("校准进行中"),
   },
 
   EventName.calibrationRecalibrating: {
     ET.PERMANENT: calibration_incomplete_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
-    ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"),
+    ET.SOFT_DISABLE: soft_disable_alert("检测到设备重新安装：重新校准中"),
+    ET.NO_ENTRY: NoEntryAlert("检测到重新安装：重新校准中"),
   },
 
   EventName.doorOpen: {
-    ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
-    ET.NO_ENTRY: NoEntryAlert("Door Open"),
+    ET.SOFT_DISABLE: user_soft_disable_alert("车门未关"),
+    ET.NO_ENTRY: NoEntryAlert("车门未关"),
   },
 
   EventName.seatbeltNotLatched: {
-    ET.SOFT_DISABLE: user_soft_disable_alert("Seatbelt Unlatched"),
-    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
+    ET.SOFT_DISABLE: user_soft_disable_alert("安全带未系"),
+    ET.NO_ENTRY: NoEntryAlert("安全带未系"),
   },
 
   EventName.espDisabled: {
-    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"),
-    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"),
+    ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制系统已禁用"),
+    ET.NO_ENTRY: NoEntryAlert("电子稳定控制系统已禁用"),
   },
 
   EventName.lowBattery: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Battery"),
-    ET.NO_ENTRY: NoEntryAlert("Low Battery"),
+    ET.SOFT_DISABLE: soft_disable_alert("电量低"),
+    ET.NO_ENTRY: NoEntryAlert("电量低"),
   },
 
   # Different openpilot services communicate between each other at a certain
@@ -847,36 +847,36 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # is thrown. This can mean a service crashed, did not broadcast a message for
   # ten times the regular interval, or the average interval is more than 10% too high.
   EventName.commIssue: {
-    ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
+    ET.SOFT_DISABLE: soft_disable_alert("进程间通信问题"),
     ET.NO_ENTRY: comm_issue_alert,
   },
   EventName.commIssueAvgFreq: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
-    ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
+    ET.SOFT_DISABLE: soft_disable_alert("进程间通信速率过低"),
+    ET.NO_ENTRY: NoEntryAlert("进程间通信速率过低"),
   },
 
   EventName.controlsdLagging: {
-    ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"),
+    ET.SOFT_DISABLE: soft_disable_alert("控制进程延迟"),
+    ET.NO_ENTRY: NoEntryAlert("控制进程延迟：重启设备"),
   },
 
   # Thrown when manager detects a service exited unexpectedly while driving
   EventName.processNotRunning: {
     ET.NO_ENTRY: process_not_running_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Process Not Running"),
+    ET.SOFT_DISABLE: soft_disable_alert("进程未运行"),
   },
 
   EventName.radarFault: {
-    ET.SOFT_DISABLE: soft_disable_alert("Radar Error: Restart the Car"),
-    ET.NO_ENTRY: NoEntryAlert("Radar Error: Restart the Car"),
+    ET.SOFT_DISABLE: soft_disable_alert("雷达错误：重启车辆"),
+    ET.NO_ENTRY: NoEntryAlert("雷达错误：重启车辆"),
   },
 
   # Every frame from the camera should be processed by the model. If modeld
   # is not processing frames fast enough they have to be dropped. This alert is
   # thrown when over 20% of frames are dropped.
   EventName.modeldLagging: {
-    ET.SOFT_DISABLE: soft_disable_alert("Driving Model Lagging"),
-    ET.NO_ENTRY: NoEntryAlert("Driving Model Lagging"),
+    ET.SOFT_DISABLE: soft_disable_alert("驾驶模型延迟"),
+    ET.NO_ENTRY: NoEntryAlert("驾驶模型延迟"),
     ET.PERMANENT: modeld_lagging_alert,
   },
 
@@ -886,21 +886,21 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # usually means the model has trouble understanding the scene. This is used
   # as a heuristic to warn the driver.
   EventName.posenetInvalid: {
-    ET.SOFT_DISABLE: soft_disable_alert("Posenet Speed Invalid"),
+    ET.SOFT_DISABLE: soft_disable_alert("Posenet 速度无效"),
     ET.NO_ENTRY: posenet_invalid_alert,
   },
 
   # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
   # alert the driver the device might have fallen from the windshield.
   EventName.deviceFalling: {
-    ET.SOFT_DISABLE: soft_disable_alert("Device Fell Off Mount"),
-    ET.NO_ENTRY: NoEntryAlert("Device Fell Off Mount"),
+    ET.SOFT_DISABLE: soft_disable_alert("设备从支架上掉落"),
+    ET.NO_ENTRY: NoEntryAlert("设备从支架上掉落"),
   },
 
   EventName.lowMemory: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
+    ET.SOFT_DISABLE: soft_disable_alert("内存不足：重启设备"),
     ET.PERMANENT: low_memory_alert,
-    ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
+    ET.NO_ENTRY: NoEntryAlert("内存不足：重启设备"),
   },
 
   EventName.highCpuUsage: {
@@ -910,14 +910,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.accFaulted: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
-    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航故障：重启车辆"),
+    ET.PERMANENT: NormalPermanentAlert("巡航故障：重启车辆以启用"),
+    ET.NO_ENTRY: NoEntryAlert("巡航故障：重启车辆"),
   },
 
   EventName.controlsMismatch: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
-    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("控制不匹配"),
+    ET.NO_ENTRY: NoEntryAlert("控制不匹配"),
   },
 
   EventName.roadCameraError: {
@@ -941,9 +941,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # Sometimes the USB stack on the device can get into a bad state
   # causing the connection to the panda to be lost
   EventName.usbError: {
-    ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
-    ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
+    ET.SOFT_DISABLE: soft_disable_alert("USB 错误：重启设备"),
+    ET.PERMANENT: NormalPermanentAlert("USB 错误：重启设备", ""),
+    ET.NO_ENTRY: NoEntryAlert("USB 错误：重启设备"),
   },
 
   # This alert can be thrown for the following reasons:
@@ -951,45 +951,45 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # - CAN data is received, but some message are not received at the right frequency
   # If you're not writing a new car port, this is usually cause by faulty wiring
   EventName.canError: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN 错误"),
     ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
+      "CAN 错误：检查连接",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("CAN 错误：检查连接"),
   },
 
   EventName.canBusMissing: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Bus Disconnected"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN 总线断开"),
     ET.PERMANENT: Alert(
-      "CAN Bus Disconnected: Likely Faulty Cable",
+      "CAN 总线断开：可能是线缆故障",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("CAN Bus Disconnected: Check Connections"),
+    ET.NO_ENTRY: NoEntryAlert("CAN 总线断开：检查连接"),
   },
 
   EventName.steerUnavailable: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"),
-    ET.PERMANENT: NormalPermanentAlert("LKAS Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS 故障：重启车辆"),
+    ET.PERMANENT: NormalPermanentAlert("LKAS 故障：重启车辆以启用"),
+    ET.NO_ENTRY: NoEntryAlert("LKAS 故障：重启车辆"),
   },
 
   EventName.reverseGear: {
     ET.PERMANENT: Alert(
-      "Reverse\nGear",
+      "倒车\n档位",
       "",
       AlertStatus.normal, AlertSize.full,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
-    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+    ET.USER_DISABLE: ImmediateDisableAlert("倒车档位"),
+    ET.NO_ENTRY: NoEntryAlert("倒车档位"),
   },
 
   # On cars that use stock ACC the car can decide to cancel ACC for various reasons.
   # When this happens we can no long control the car so the user needs to be warned immediately.
   EventName.cruiseDisabled: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Is Off"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航已关闭"),
   },
 
   # When the relay in the harness box opens the CAN bus between the LKAS camera
@@ -997,15 +997,15 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # are received on the car side this usually means the relay hasn't opened correctly
   # and this alert is thrown.
   EventName.relayMalfunction: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Harness Relay Malfunction"),
-    ET.PERMANENT: NormalPermanentAlert("Harness Relay Malfunction", "Check Hardware"),
-    ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("线束继电器故障"),
+    ET.PERMANENT: NormalPermanentAlert("线束继电器故障", "检查硬件"),
+    ET.NO_ENTRY: NoEntryAlert("线束继电器故障"),
   },
 
   EventName.speedTooLow: {
     ET.IMMEDIATE_DISABLE: Alert(
-      "openpilot Canceled",
-      "Speed too low",
+      "openpilot 已取消",
+      "速度过低",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
   },
@@ -1013,35 +1013,35 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable.
   EventName.speedTooHigh: {
     ET.WARNING: Alert(
-      "Speed Too High",
-      "Model uncertain at this speed",
+      "速度过高",
+      "模型在此速度下不确定",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
-    ET.NO_ENTRY: NoEntryAlert("Slow down to engage"),
+    ET.NO_ENTRY: NoEntryAlert("减速以启用"),
   },
 
   EventName.lowSpeedLockout: {
-    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
+    ET.PERMANENT: NormalPermanentAlert("巡航故障：重启车辆以启用"),
+    ET.NO_ENTRY: NoEntryAlert("巡航故障：重启车辆"),
   },
 
   EventName.lkasDisabled: {
-    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
+    ET.PERMANENT: NormalPermanentAlert("LKAS 已禁用：启用 LKAS 以激活"),
+    ET.NO_ENTRY: NoEntryAlert("LKAS 已禁用"),
   },
 
   EventName.vehicleSensorsInvalid: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
-    ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
-    ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("车辆传感器无效"),
+    ET.PERMANENT: NormalPermanentAlert("车辆传感器校准中", "行驶以校准"),
+    ET.NO_ENTRY: NoEntryAlert("车辆传感器校准中"),
   },
 }
 
 FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   FrogPilotEventName.blockUser: {
     ET.PERMANENT: Alert(
-      "Don't use the 'Development' branch!",
-      "Forcing you into 'Dashcam Mode' for your safety",
+      "请不要使用'开发'分支！",
+      "为了您的安全，强制进入'行车记录仪模式'",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.HIGHEST, VisualAlert.none, AudibleAlert.none, 1.),
   },
@@ -1056,15 +1056,15 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.goatSteerSaturated: {
     ET.WARNING: Alert(
-      "JESUS TAKE THE WHEEL!!",
-      "Turn Exceeds Steering Limit",
+      "耶稣接管方向盘！！",
+      "转向超出转向限制",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.goat, 2.),
   },
 
   FrogPilotEventName.greenLight: {
     ET.PERMANENT: Alert(
-      "Light turned green",
+      "绿灯已亮",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
@@ -1076,7 +1076,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.laneChangeBlockedLoud: {
     ET.WARNING: Alert(
-      "Car Detected in Blindspot",
+      "盲区检测到车辆",
       "",
       AlertStatus.userPrompt, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.warningSoft, .1),
@@ -1084,7 +1084,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.leadDeparting: {
     ET.PERMANENT: Alert(
-      "Lead departed",
+      "前车已离开",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
@@ -1096,29 +1096,29 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.openpilotCrashed: {
     ET.IMMEDIATE_DISABLE: Alert(
-      "openpilot crashed",
-      "Please post the 'Error Log' in the FrogPilot Discord!",
+      "openpilot 已崩溃",
+      "请在 FrogPilot Discord 中发布'错误日志'！",
       AlertStatus.critical, AlertSize.mid,
       Priority.HIGHEST, VisualAlert.none, AudibleAlert.prompt, .1),
 
     ET.NO_ENTRY: Alert(
-      "openpilot crashed",
-      "Please post the 'Error Log' in the FrogPilot Discord!",
+      "openpilot 已崩溃",
+      "请在 FrogPilot Discord 中发布'错误日志'！",
       AlertStatus.critical, AlertSize.mid,
       Priority.HIGHEST, VisualAlert.none, AudibleAlert.prompt, .1),
   },
 
   FrogPilotEventName.pedalInterceptorNoBrake: {
     ET.WARNING: Alert(
-      "Braking Unavailable",
-      "Shift to L",
+      "制动不可用",
+      "换到 L 档",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
   },
 
   FrogPilotEventName.speedLimitChanged: {
     ET.PERMANENT: Alert(
-      "Speed limit changed",
+      "限速已更改",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
@@ -1126,8 +1126,8 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.thisIsFineSteerSaturated: {
     ET.WARNING: Alert(
-      "This is fine ☕",
-      "Turn Exceeds Steering Limit",
+      "这很好 ☕",
+      "转向超出转向限制",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.thisIsFine, 2.),
   },
@@ -1138,7 +1138,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.trafficModeActive: {
     ET.WARNING: Alert(
-      "Traffic Mode enabled",
+      "交通模式已启用",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
@@ -1146,7 +1146,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.trafficModeInactive: {
     ET.WARNING: Alert(
-      "Traffic Mode Disabled",
+      "交通模式已禁用",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
@@ -1154,7 +1154,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.turningLeft: {
     ET.WARNING: Alert(
-      "Turning left",
+      "向左转",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
@@ -1162,16 +1162,16 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.turningRight: {
     ET.WARNING: Alert(
-      "Turning right",
+      "向右转",
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75),
   },
 
-  # Random Events
+  # 随机事件
   FrogPilotEventName.accel30: {
     ET.WARNING: Alert(
-      "UwU u went a bit fast there!",
+      "UwU 你开得有点快哦！",
       "(⁄ ⁄•⁄ω⁄•⁄ ⁄)",
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.uwu, 4.),
@@ -1179,15 +1179,15 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.accel35: {
     ET.WARNING: Alert(
-      "I ain't giving you no tree-fiddy",
-      "You damn Loch Ness Monsta!",
+      "我不会给你三块五的",
+      "你这个该死的尼斯湖水怪！",
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.nessie, 4.),
   },
 
   FrogPilotEventName.accel40: {
     ET.WARNING: Alert(
-      "Great Scott!",
+      "天啊！",
       "🚗💨",
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.doc, 4.),
@@ -1195,7 +1195,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.dejaVuCurve: {
     ET.PERMANENT: Alert(
-      "♬♪ Deja vu! ᕕ(⌐■_■)ᕗ ♪♬",
+      "♬♪ 似曾相识！ᕕ(⌐■_■)ᕗ ♪♬",
       "🏎️",
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.dejaVu, 4.),
@@ -1203,37 +1203,37 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.firefoxSteerSaturated: {
     ET.WARNING: Alert(
-      "IE Has Stopped Responding...",
-      "Turn Exceeds Steering Limit",
+      "IE 已停止响应...",
+      "转向超出转向限制",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.LOW, VisualAlert.steerRequired, FrogPilotAudibleAlert.firefox, 4.),
   },
 
   FrogPilotEventName.hal9000: {
     ET.WARNING: Alert(
-      "I'm sorry Dave",
-      "I'm afraid I can't do that...",
+      "对不起，戴夫",
+      "恐怕我不能那样做...",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGH, VisualAlert.none, FrogPilotAudibleAlert.hal9000, 4.),
   },
 
   FrogPilotEventName.openpilotCrashedRandomEvent: {
     ET.IMMEDIATE_DISABLE: Alert(
-      "openpilot crashed 💩",
-      "Please post the 'Error Log' in the FrogPilot Discord!",
+      "openpilot 崩溃了 💩",
+      "请在 FrogPilot Discord 中发布'错误日志'！",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGHEST, VisualAlert.none, FrogPilotAudibleAlert.fart, 10.),
 
     ET.NO_ENTRY: Alert(
-      "openpilot crashed 💩",
-      "Please post the 'Error Log' in the FrogPilot Discord!",
+      "openpilot 崩溃了 💩",
+      "请在 FrogPilot Discord 中发布'错误日志'！",
       AlertStatus.normal, AlertSize.mid,
       Priority.HIGHEST, VisualAlert.none, FrogPilotAudibleAlert.fart, 10.),
   },
 
   FrogPilotEventName.toBeContinued: {
     ET.PERMANENT: Alert(
-      "To be continued...",
+      "未完待续...",
       "⬅️",
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.MID, VisualAlert.none, FrogPilotAudibleAlert.continued, 7.),
@@ -1241,7 +1241,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.vCruise69: {
     ET.WARNING: Alert(
-      "Lol 69",
+      "哈哈 69",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.noice, 2.),
@@ -1249,7 +1249,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.yourFrogTriedToKillMe: {
     ET.PERMANENT: Alert(
-      "Your Frog tried to kill me...",
+      "你的青蛙试图杀死我...",
       "👺",
       FrogPilotAlertStatus.frogpilot, AlertSize.mid,
       Priority.MID, VisualAlert.none, FrogPilotAudibleAlert.angry, 5.),
@@ -1257,7 +1257,7 @@ FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   FrogPilotEventName.youveGotMail: {
     ET.WARNING: Alert(
-      "You've got mail! 📧",
+      "您有新邮件！📧",
       "",
       FrogPilotAlertStatus.frogpilot, AlertSize.small,
       Priority.LOW, VisualAlert.none, FrogPilotAudibleAlert.mail, 3.),
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index da09e2b..3abea14 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -28,9 +28,9 @@ def dmonitoringd_thread():
       continue
 
     valid = sm.all_checks()
-    if valid:
+    if DM.always_on and valid:
       DM.run_step(sm)
-    elif driver_view_enabled:
+    elif DM.always_on and driver_view_enabled:
       DM.face_detected = sm['driverStateV2'].leftDriverData.faceProb > DM.settings._FACE_THRESHOLD or sm['driverStateV2'].rightDriverData.faceProb > DM.settings._FACE_THRESHOLD
 
     # publish