diff --git a/cav_msgs/msg/TrafficControlRequestPolygon.msg b/cav_msgs/msg/TrafficControlRequestPolygon.msg
new file mode 100644
index 00000000..d378a02b
--- /dev/null
+++ b/cav_msgs/msg/TrafficControlRequestPolygon.msg
@@ -0,0 +1,13 @@
+#
+# TrafficControlRequestPolygon.msg
+#
+# @author Misheel Bayartsengel
+# @version 0.1
+#
+# NOTE: This message is not part of the TrafficControlRequest message definition. 
+#       It is an alternative representation of TrafficControlBounds used for visualization.
+#
+# describes the four vertices of polygon created by CARMA to form an TrafficControlRequest zone
+# each points are in EPSG:4326 lat/long                                                       
+
+cav_msgs/Position3D[] polygon_list
\ No newline at end of file
diff --git a/cav_msgs/msg/UpcomingLaneChangeStatus.msg b/cav_msgs/msg/UpcomingLaneChangeStatus.msg
index bc3763b4..c78e5fa8 100644
--- a/cav_msgs/msg/UpcomingLaneChangeStatus.msg
+++ b/cav_msgs/msg/UpcomingLaneChangeStatus.msg
@@ -5,15 +5,12 @@
 # downtrack until next lanechange
 float64 downtrack_until_lanechange
 
-# last recorded lanechange downtrack
-float64 last_recorded_lanechange_downtrack
-
 # choice for lane change
 uint8 lane_change
 
 # enums for lane change
 uint8 NONE = 0
 
-uint8 LEFT = 0
+uint8 LEFT = 1
 
-uint8 RIGHT= 1
+uint8 RIGHT= 2
diff --git a/j2735_msgs/msg/LaneAttributesTrackedVehicle.msg b/j2735_msgs/msg/LaneAttributesTrackedVehicle.msg
index 58ba97c4..80e651c8 100644
--- a/j2735_msgs/msg/LaneAttributesTrackedVehicle.msg
+++ b/j2735_msgs/msg/LaneAttributesTrackedVehicle.msg
@@ -8,7 +8,7 @@
 #
 # The LaneAttributes-Special data element relates specific properties found
 # in a tracked vehicle lane types (trolley and train lanes).
-# The term “rail vehicle” can be considered synonymous.
+# The term "rail vehicle" can be considered synonymous.
 # In this case, the term does not relate to vehicle types with tracks or treads.
 #
 # LaneAttributes-TrackedVehicle ::= BIT STRING {
@@ -24,4 +24,4 @@
 # -- Bits 5~15 reserved and set to zero
 # } (SIZE (16))
 
-uint16 lane_attributes_trackedvehicle
\ No newline at end of file
+uint16 lane_attributes_trackedvehicle