diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 4ff10f68a5..83405b8de1 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -91,7 +91,6 @@
           </set>
         </option>
         <option name="resolveModulePerSourceSet" value="false" />
-        <option name="useQualifiedModuleNames" value="true" />
       </GradleProjectSettings>
     </option>
   </component>
diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index 28941cfea3..aebc219be0 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -67,7 +67,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.6'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.7'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }
 
diff --git a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_bottom.xml b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_bottom.xml
index 72aa9cfff4..081c757d2f 100644
--- a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_bottom.xml
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_bottom.xml
@@ -3,6 +3,6 @@
     <gradient
         android:angle="90"
         android:endColor="#00F03232"
-        android:startColor="#A5F03232"
+        android:startColor="#7FF03232"
         android:type="linear"></gradient>
 </shape>
\ No newline at end of file
diff --git a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_left.xml b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_left.xml
index bc04920106..eb144a1779 100644
--- a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_left.xml
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_left.xml
@@ -3,6 +3,6 @@
     <gradient
         android:angle="0"
         android:endColor="#00F03232"
-        android:startColor="#A5F03232"
+        android:startColor="#3FF03232"
         android:type="linear"></gradient>
 </shape>
\ No newline at end of file
diff --git a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_right.xml b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_right.xml
index 7300bc5cf7..8584828ccb 100644
--- a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_right.xml
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_right.xml
@@ -3,6 +3,6 @@
     <gradient
         android:angle="180"
         android:endColor="#00F03232"
-        android:startColor="#A5F03232"
+        android:startColor="#3FF03232"
         android:type="linear"></gradient>
 </shape>
\ No newline at end of file
diff --git a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_top.xml b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_top.xml
index a6317a7428..dc0631a675 100644
--- a/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_top.xml
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_top.xml
@@ -3,6 +3,6 @@
     <gradient
         android:angle="270"
         android:endColor="#00FF0606"
-        android:startColor="#8CFF0606"
+        android:startColor="#3FFF0606"
         android:type="linear"></gradient>
 </shape>
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
index de5b02ee6b..7119339383 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XCloundDataManager.java
@@ -256,7 +256,7 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
     }
 
     /**
-     * 绘制安全区域,自车与碰撞点之间的蓝色线
+     * 自车为起点绘制(根据设计,前方行人/弱势交通参与者预警 getDirection() == 1 自车与停止线之间为蓝色预警;其他侧方预警自车与预碰撞点之间显示红色预警)
      */
     private void drawSlefCarLine(double lon, double lat, float bearing) {
         if (!isSelfLineClear) {
@@ -266,13 +266,16 @@ public class MoGoV2XCloundDataManager implements IMoGoV2XCloundDataManager, IMog
                 MogoLatLng endLatlng = null;
                 MogoLatLng addMiddleLoc = null;
                 if (!isFirstLocation) {
+                    //自车位置
                     startLatlng = new MogoLatLng(lat, lon);
                     carLocation = getMogoLat(new MogoLatLng(lat, lon));
-                    endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? carLocation.lat : mCloundWarningInfo.getCollisionLat(),
-                            mCloundWarningInfo.getDirection() == 1 ? carLocation.lon : mCloundWarningInfo.getCollisionLon());
+                    endLatlng = new MogoLatLng(mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lat : mCloundWarningInfo.getCollisionLat(),
+                            mCloundWarningInfo.getDirection() == 1 ? middleLocationInStopLine.lon : mCloundWarningInfo.getCollisionLon());
                     float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
                     addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2, mCloundWarningInfo.getAngle());
-                    Log.d(V2XConst.LOG_NAME_WARN, "drawSlefCarLine lon = " + carLocation.lon + "---lat = " + carLocation.lat);
+
+                    Log.d(TAG, "已自车为起点绘制  自车;" + startLatlng.lat + "," + startLatlng.lon +
+                            "中间扩展点" + addMiddleLoc.lon + "," + addMiddleLoc.lat + "终点:" + endLatlng.lon + "," + endLatlng.lat);
                     isFirstLocation = true;
                 }
                 if (mogoPolyline != null) {