diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
index b47e91b9db..4e9a68bff1 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
@@ -203,24 +203,25 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
     }
 
     private void removeUselessLastRecord() {  // todo 最好重新设计一个数据结构，用于多线程数据过期失效的场景，参见redis数据过期
-        if (mLastPositions == null || mLastPositions.isEmpty()) {
-            return;
-        }
-        IMogoADASController adasControllerApi = MogoApisHandler.getInstance().getApis().getAdasControllerApi();
-        if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime()) || adasControllerApi.getSatelliteTime().equals("0")) {
+        if (mLastPositions.isEmpty()) {
             return;
         }
         Iterator<ADASRecognizedResult> iterator = mLastPositions.values().iterator();
         Log.d("EmArrow","removeUselessLastRecord size : " + mLastPositions.size());
         while (iterator.hasNext()) {
             ADASRecognizedResult result = iterator.next();
-            long internal = result.satelliteTime - Long.parseLong(adasControllerApi.getSatelliteTime());
+            long internal = result.satelliteTime - getCurSatelliteTime();
             if (internal > 1000) {
                 iterator.remove();
             }
         }
     }
 
+    /**
+     * 过滤无用数据
+     * @param recognizedListResult {@link ADASRecognizedResult}
+     * @return useless
+     */
     private boolean isUselessValue(ADASRecognizedResult recognizedListResult) {
         if (recognizedListResult == null) {
             return true;
@@ -228,18 +229,14 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
         if (!isRenderType(recognizedListResult.type)) {
             return true;
         }
-
         String uniqueKey = recognizedListResult.uuid;
-        if (TextUtils.isEmpty(uniqueKey)) {
-            return true;
-        }
-        return false;
+        return TextUtils.isEmpty(uniqueKey);
     }
 
     /**
      * 绘制某个物体的一个数据  todo 缓存问题
      *
-     * @param recognizedListResult
+     * @param recognizedListResult {@link ADASRecognizedResult}
      * @param newAdasRecognizedMarkersCaches
      */
     private void renderAdasOneFrame(IMogoMarker marker,
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
index a9456f6794..af0347fb43 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
@@ -248,7 +248,7 @@ class BaseDrawer {
      *
      * @return isCurSpeed
      */
-    private double getCurSpeed() {
+    protected double getCurSpeed() {
         double speed = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastSpeed();
         if (speed <= 0) {
             speed = SnapshotLocationController.getInstance().getCurSpeed();
@@ -259,9 +259,9 @@ class BaseDrawer {
     /**
      * 返回当前自车经纬度
      *
-     * @return
+     * @return 0:lon 1:lat
      */
-    private double[] getCurCoordinates() {
+    protected double[] getCurCoordinates() {
         double[] coordinates = {
                 MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLon(),
                 MogoApisHandler.getInstance().getApis().getAdasControllerApi().getLastLat(),
@@ -273,6 +273,18 @@ class BaseDrawer {
         return coordinates;
     }
 
+    /**
+     * 返回当前自车SNTP时间
+     *
+     * @return
+     */
+    protected long getCurSatelliteTime() {
+        String satelliteTime = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getSatelliteTime();
+        if (TextUtils.isEmpty(satelliteTime)) {
+            return System.currentTimeMillis();
+        }
+        return Long.parseLong(satelliteTime);
+    }
 
     /**
      * 模型颜色
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
index b829256bbd..81763cda2c 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
@@ -1,5 +1,6 @@
 package com.mogo.module.common.drawer;
 
+import android.os.Build;
 import android.text.TextUtils;
 import android.util.Log;
 import android.view.LayoutInflater;
@@ -17,8 +18,8 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.R;
 import com.mogo.module.common.api.CallChatApi;
 import com.mogo.module.common.constants.DataTypes;
+import com.mogo.module.common.utils.Trigonometric;
 import com.mogo.service.adas.IMogoADASController;
-import com.mogo.service.adas.entity.ADASRecognizedResult;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.ViewUtils;
@@ -246,7 +247,7 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
             return;
         }
         Iterator<SocketDownData.CloudRoadDataProto> iterator = mLastPositions.values().iterator();
-        Log.d("EmArrow","removeUselessLastRecord size : " + mLastPositions.size());
+        Log.d("EmArrow", "removeUselessLastRecord size : " + mLastPositions.size());
         while (iterator.hasNext()) {
             SocketDownData.CloudRoadDataProto result = iterator.next();
             long internal = result.getSatelliteTime() - Long.parseLong(adasControllerApi.getSatelliteTime());
@@ -328,9 +329,8 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
      * @param out 输出集合
      */
     private void prepareData(List<SocketDownData.CloudRoadDataProto> in, List<SocketDownData.CloudRoadDataProto> out) {
-//        in.stream().
-//        filterData(in);
-//        foreCastPoint(in);
+        filterData(in);
+        foreCastPoint(in);
         out.addAll(in);
     }
 
@@ -358,6 +358,32 @@ public class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClic
         data.addAll(newList);
     }
 
+    private void foreCastPoint(List<SocketDownData.CloudRoadDataProto> in) {
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+            for (SocketDownData.CloudRoadDataProto proto : in) {
+                SocketDownData.CloudRoadDataProto.Builder builder = proto.toBuilder();
+                long internal = getCurSatelliteTime() - builder.getSatelliteTime();
+                if (internal <= 0) {
+                    continue;
+                }
+                long startTime = System.nanoTime();
+                // 预测点
+                double foreCastDistance = proto.getSpeed() * internal;
+                MogoLatLng mogoLatLng = new MogoLatLng(proto.getWgslat(),proto.getWgslon());
+                MogoLatLng foreCastMogoLatLon = Trigonometric.getNewLocation(mogoLatLng,foreCastDistance,proto.getHeading());
+
+                // 计算与自车距离
+//                getCurCoordinates();
+
+                long foreCastInternal = System.nanoTime() - startTime;
+                Log.d("ForeCastTime","foreCastInternal :" + foreCastDistance); //todo 看是否耗时，增加的时间需要从当前SNTP时间减去
+                builder.setWgslat(foreCastMogoLatLon.getLat());
+                builder.setWgslon(foreCastMogoLatLon.getLon());
+                builder.setSatelliteTime(getCurSatelliteTime() - foreCastInternal);
+            }
+        }
+    }
+
     /**
      * 绑定点击事件
      */