diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.kt
index fc3121c9f3..2c1d4f7698 100644
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MoGoObuProvider.kt
@@ -20,6 +20,5 @@ class MoGoObuProvider : IMoGoObuProvider {
 
         //        MogoPrivateObuManager.getInstance().init(context);
         INSTANCE.init(context)
-        ObuRecognizedResultDrawer()
     }
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
index cb2d8f9b0f..3e3678db5d 100644
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
@@ -2,11 +2,11 @@ package com.mogo.module.obu.mogo
 
 import android.content.Context
 import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.module.obu.mogo.map.ObuRecognizedResultDrawer
 import com.mogo.service.IMogoServiceApis
 import com.mogo.service.MogoServicePaths
 import com.mogo.service.adas.entity.ADASRecognizedResult
 import com.mogo.service.warning.IMoGoWaringProvider
-import com.mogo.utils.UiThreadHandler
 import com.mogo.utils.logger.Logger
 import com.zhidao.support.obu.MogoObuManager
 import com.zhidao.support.obu.OnMogoObuListener
@@ -22,7 +22,7 @@ import java.util.*
  */
 class MogoPrivateObuManager private constructor() {
     companion object {
-        val INSTANCE : MogoPrivateObuManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+        val INSTANCE: MogoPrivateObuManager by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
             MogoPrivateObuManager()
         }
     }
@@ -30,17 +30,22 @@ class MogoPrivateObuManager private constructor() {
     private var resultList: MutableList<ADASRecognizedResult>? = null
     private var mMogoServiceApis: IMogoServiceApis? = null
     private var mIMoGoWaringProvider: IMoGoWaringProvider? = null
-    val icw_data = "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"
+    val icw_data =
+        "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"
 
+    // Obu 识别他车绘制
+    private var mObuRecognizedResultDrawer: ObuRecognizedResultDrawer? = null
 
     fun init(context: Context?) {
         Logger.d(MogoObuConst.TAG_MOGO_OBU, "obuManager初始化--")
         mMogoServiceApis = ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS)
-                .navigation(context) as IMogoServiceApis
+            .navigation(context) as IMogoServiceApis
 
-       // 获取预警模块的接口
+        // 获取预警模块的接口
         mIMoGoWaringProvider = mMogoServiceApis!!.waringProviderApi
 
+        mObuRecognizedResultDrawer = ObuRecognizedResultDrawer()
+
         //自研obu
         MogoObuManager.getInstance().init(context)
         MogoObuManager.getInstance().connect("192.168.1.199")
@@ -107,6 +112,8 @@ class MogoPrivateObuManager private constructor() {
         override fun onCvxRvInfoIndInfo(info: CvxRvInfoIndInfo) {
             //远车信息,
             Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxRvInfoIndInfo ------> $info")
+            // 更新周边车辆
+            mObuRecognizedResultDrawer?.addCvxRvInfoIndInfo(info)
         }
 
         //TODO 他车是否一直出现
@@ -266,16 +273,16 @@ class MogoPrivateObuManager private constructor() {
         } else if (type == MogoObuConst.TYPE_OPTIMAL_SPEED_ADVISORY) { //绿波车速引导 ？
             alertContent = ""
             ttsContent = ""
-        }  else if (type == MogoObuConst.TYPE_RUSH_RED_LIGHT) { //闯红灯预警
+        } else if (type == MogoObuConst.TYPE_RUSH_RED_LIGHT) { //闯红灯预警
 
         }
 
         //显示弹框，语音提示
         mIMoGoWaringProvider!!.showWarningV2X(
-                type,
-                alertContent,
-                if (level == 3) ttsContent else "",
-                type.toString()
+            type,
+            alertContent,
+            if (level == 3) ttsContent else "",
+            type.toString()
         )
     }
 
diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
index 54cf8cb415..7a8b3b2f5d 100644
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
@@ -60,8 +60,8 @@ class ObuRecognizedResultDrawer() {
     /**
      * 添加识别的数据
      */
-    fun addCvxRvInfoIndInfo(key: String, value: CvxRvInfoIndInfo) {
-        mCvxRvInfoIndInfoMap[key] = value;
+    fun addCvxRvInfoIndInfo(value: CvxRvInfoIndInfo) {
+        mCvxRvInfoIndInfoMap[value.vehicle_id] = value;
     }
 
     /**