diff --git a/.idea/inspectionProfiles/Project_Default.xml b/.idea/inspectionProfiles/Project_Default.xml
index 6560a98983..986b1962d3 100644
--- a/.idea/inspectionProfiles/Project_Default.xml
+++ b/.idea/inspectionProfiles/Project_Default.xml
@@ -32,5 +32,6 @@
       <option name="IGNORE_POINT_TO_ITSELF" value="false" />
       <option name="myAdditionalJavadocTags" value="date" />
     </inspection_tool>
+    <inspection_tool class="MarkdownUnresolvedFileReference" enabled="true" level="WARNING" enabled_by_default="true" />
   </profile>
 </component>
\ No newline at end of file
diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index 2266035c7a..19b8567590 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -105,6 +105,8 @@ public class MogoApplication extends AbsMogoApplication {
 
         // 小地图模块
         MogoModulePaths.addModule( new MogoModule( MogoServicePaths.PATH_SMALL_MAP, "IMogoSmallMapProvider" ) );
+        //前方碰撞预警
+        MogoModulePaths.addModule( new MogoModule( MogoServicePaths.PATH_V2X_FRONT_CRASH_WARNING, "IV2XManagerProvider" ) );
 
         MogoModulePaths.addBaseModule( new MogoModule( MogoServicePaths.PATH_GLOBAL_UNWAKE, "GlobalUnwake" ) );
 
diff --git a/main-extensions/mogo-module-main-launcher/build.gradle b/main-extensions/mogo-module-main-launcher/build.gradle
index 3de4bf61cd..efd300157a 100644
--- a/main-extensions/mogo-module-main-launcher/build.gradle
+++ b/main-extensions/mogo-module-main-launcher/build.gradle
@@ -43,9 +43,11 @@ dependencies {
     if (Boolean.valueOf(RELEASE)) {
         api rootProject.ext.dependencies.modulemain
         implementation rootProject.ext.dependencies.mogooch
+        implementation rootProject.ext.dependencies.moduleservice
     } else {
         api project(":modules:mogo-module-main")
         implementation project(":OCH:mogo-och")
+        implementation project(':modules:mogo-module-service')
     }
 }
 
diff --git a/main-extensions/mogo-module-main-launcher/src/main/java/com/zhidao/mogo/module/main/launcher/MainLauncherActivity.java b/main-extensions/mogo-module-main-launcher/src/main/java/com/zhidao/mogo/module/main/launcher/MainLauncherActivity.java
index 9cccae807c..bbe709f901 100644
--- a/main-extensions/mogo-module-main-launcher/src/main/java/com/zhidao/mogo/module/main/launcher/MainLauncherActivity.java
+++ b/main-extensions/mogo-module-main-launcher/src/main/java/com/zhidao/mogo/module/main/launcher/MainLauncherActivity.java
@@ -2,10 +2,13 @@ package com.zhidao.mogo.module.main.launcher;
 
 import android.content.Intent;
 import android.os.Bundle;
+import android.os.Handler;
 import android.os.Process;
 import android.text.TextUtils;
+import android.util.Log;
 import android.view.View;
 import android.widget.FrameLayout;
+import android.widget.ImageView;
 
 import androidx.annotation.Nullable;
 
@@ -13,26 +16,42 @@ import com.alibaba.android.arouter.launcher.ARouter;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.entity.V2XMessageEntity;
 import com.mogo.module.main.MainActivity;
 import com.mogo.module.main.cards.MogoModulesManager;
+import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.och.IMogoOCH;
 import com.mogo.service.intent.IMogoIntentListener;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
+import com.mogo.service.v2x.IV2XListener;
 import com.mogo.utils.logger.Logger;
 
+import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_BOTTOM;
+import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_LEFT;
+import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_RIGHT;
+import static com.mogo.module.common.entity.V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP;
+
 /**
  * 针对作为Launcher的情况，做个性化操作
  *
  * @author tongchenfei
  */
-public class MainLauncherActivity extends MainActivity implements IMogoIntentListener, IMogoStatusChangedListener {
+public class MainLauncherActivity extends MainActivity implements IMogoIntentListener, IMogoStatusChangedListener, IV2XListener {
     private static final String TAG = "MainLauncherActivity";
     protected boolean mIsHomeKeyDown = false;
+    private static Handler handlerV2XEvent = new Handler();
+    private static Runnable runnableV2XEvent;
+    private static final int COUNT_DOWN_TIMER = 1_000;
+    private static final int ALL_EXPIRE_TIMER = 3_000;
+    private static int EXPIRE_TIMER = ALL_EXPIRE_TIMER;
+
     @Override
-    protected void onCreate( @Nullable Bundle savedInstanceState ) {
-        super.onCreate( savedInstanceState );
-        DebugConfig.setNeedRequestUserInfo( true );
+    protected void onCreate(@Nullable Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        DebugConfig.setNeedRequestUserInfo(true);
+        Log.d(TAG, "onCreate");
+        mServiceApis.getV2XListenerManager().registerIntentListener(MogoReceiver.ACTION_V2X_FRONT_WARNING, this);
         mServiceApis.getStatusManagerApi().registerStatusChangedListener(TAG,
                 StatusDescriptor.VR_MODE, this);
     }
@@ -43,10 +62,10 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
         // 显示左边遮罩
         if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
             mLeftShadowFrame.setVisibility(View.GONE);
-        }else {
+        } else {
             mLeftShadowFrame.setVisibility(View.VISIBLE);
         }
-        MogoModulesManager.getInstance().loadAppsListModule( com.mogo.module.main.R.id.module_main_id_apps_fragment_container );
+        MogoModulesManager.getInstance().loadAppsListModule(com.mogo.module.main.R.id.module_main_id_apps_fragment_container);
     }
 
     @Override
@@ -57,21 +76,21 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     @Override
     protected void hideLayout() {
         super.hideLayout();
-        mApps.setVisibility( View.GONE );
-        mLeftShadowFrame.setVisibility( View.GONE );
+        mApps.setVisibility(View.GONE);
+        mLeftShadowFrame.setVisibility(View.GONE);
     }
 
     @Override
     protected void showLayout() {
         super.showLayout();
-        mApps.setVisibility( View.VISIBLE );
-        mLeftShadowFrame.setVisibility( View.VISIBLE );
+        mApps.setVisibility(View.VISIBLE);
+        mLeftShadowFrame.setVisibility(View.VISIBLE);
     }
 
     @Override
     protected void onStart() {
         super.onStart();
-        getApis().getIntentManagerApi().registerIntentListener( Intent.ACTION_CLOSE_SYSTEM_DIALOGS, this );
+        getApis().getIntentManagerApi().registerIntentListener(Intent.ACTION_CLOSE_SYSTEM_DIALOGS, this);
     }
 
     @Override
@@ -83,13 +102,13 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     @Override
     protected void onStop() {
         super.onStop();
-        getApis().getIntentManagerApi().unregisterIntentListener( Intent.ACTION_CLOSE_SYSTEM_DIALOGS, this );
+        getApis().getIntentManagerApi().unregisterIntentListener(Intent.ACTION_CLOSE_SYSTEM_DIALOGS, this);
     }
 
     @Override
-    public void onIntentReceived( String intentStr, Intent intent ) {
-        if ( TextUtils.equals( Intent.ACTION_CLOSE_SYSTEM_DIALOGS, intentStr ) ) {
-            mIsHomeKeyDown = intent.getBooleanExtra( "isHomeKeyDown", true );
+    public void onIntentReceived(String intentStr, Intent intent) {
+        if (TextUtils.equals(Intent.ACTION_CLOSE_SYSTEM_DIALOGS, intentStr)) {
+            mIsHomeKeyDown = intent.getBooleanExtra("isHomeKeyDown", true);
         }
     }
 
@@ -107,10 +126,10 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
     /**
      * 加载网约车模块
      */
-    private void loadOCHModule(){
-        IMogoOCH och = ARouter.getInstance().navigation( IMogoOCH.class );
-        if ( och != null ) {
-            och.init( this, R.id.module_main_id_och_fragment );
+    private void loadOCHModule() {
+        IMogoOCH och = ARouter.getInstance().navigation(IMogoOCH.class);
+        if (och != null) {
+            och.init(this, R.id.module_main_id_och_fragment);
         }
     }
 
@@ -119,40 +138,108 @@ public class MainLauncherActivity extends MainActivity implements IMogoIntentLis
         super.onDestroy();
         mServiceApis.getStatusManagerApi().unregisterStatusChangedListener(TAG,
                 StatusDescriptor.VR_MODE, this);
+        mServiceApis.getV2XListenerManager().unregisterIntentListener(TAG, this);
+        stopCountDown();
         try {
             // acc off 之后会出现进程还在，但是页面被杀的情况，这个直接杀掉进程，然后让整个进程重启
-            Process.killProcess( Process.myPid() );
-        } catch ( Exception e ) {
+            Process.killProcess(Process.myPid());
+        } catch (Exception e) {
             e.printStackTrace();
         }
     }
 
     @Override
-    public void onMapUiModeChanged( EnumMapUI mapUI ) {
-        super.onMapUiModeChanged( mapUI );
-        Intent intent = new Intent( "com.mogo.style.SKIN_CHANGED" );
-        intent.putExtra( "type", -1 );
-        if ( mapUI == EnumMapUI.Type_Light ) {
-            intent.putExtra( "type", 1 );
-        } else if( mapUI == EnumMapUI.Type_Night ){
-            intent.putExtra( "type", 0 );
+    public void onMapUiModeChanged(EnumMapUI mapUI) {
+        super.onMapUiModeChanged(mapUI);
+        Intent intent = new Intent("com.mogo.style.SKIN_CHANGED");
+        intent.putExtra("type", -1);
+        if (mapUI == EnumMapUI.Type_Light) {
+            intent.putExtra("type", 1);
+        } else if (mapUI == EnumMapUI.Type_Night) {
+            intent.putExtra("type", 0);
         }
-        sendBroadcast( intent );
-        Logger.d( TAG, "send msg to AI Voice" );
+        sendBroadcast(intent);
+        Logger.d(TAG, "send msg to AI Voice");
     }
 
     @Override
     public void onStatusChanged(StatusDescriptor descriptor, boolean isTrue) {
-        FrameLayout.LayoutParams entranceParams = ( ( FrameLayout.LayoutParams ) mEntrance.getLayoutParams() );
+        FrameLayout.LayoutParams entranceParams = ((FrameLayout.LayoutParams) mEntrance.getLayoutParams());
         if (isTrue) {
-            entranceParams.leftMargin = getResources().getDimensionPixelSize( R.dimen.module_main_entrance_fragment_container_marginLeft_in_vr_mode );
+            entranceParams.leftMargin = getResources().getDimensionPixelSize(R.dimen.module_main_entrance_fragment_container_marginLeft_in_vr_mode);
             mLeftShadowFrame.setVisibility(View.GONE);
             mApps.setVisibility(View.GONE);
-        }else{
-            entranceParams.leftMargin = getResources().getDimensionPixelSize( R.dimen.module_main_id_entrance_fragment_container_marginLeft );
+        } else {
+            entranceParams.leftMargin = getResources().getDimensionPixelSize(R.dimen.module_main_id_entrance_fragment_container_marginLeft);
             mLeftShadowFrame.setVisibility(View.VISIBLE);
             mApps.setVisibility(View.VISIBLE);
         }
-        mEntrance.setLayoutParams( entranceParams );
+        mEntrance.setLayoutParams(entranceParams);
+    }
+
+    @Override
+    public void warningChangedWithType(int type) {
+        Log.d(TAG, "显示红色预警蒙层");
+        switch (type) {
+            case ALERT_THE_FRONT_CRASH_WARNING_TOP:
+                mWarningTop.setVisibility(View.VISIBLE);
+                mWarningLeft.setVisibility(View.GONE);
+                mWarningRight.setVisibility(View.GONE);
+                mWarningBottom.setVisibility(View.GONE);
+                startCountDownWithView(mWarningTop);
+                break;
+            case ALERT_THE_FRONT_CRASH_WARNING_LEFT:
+                mWarningLeft.setVisibility(View.VISIBLE);
+                mWarningTop.setVisibility(View.GONE);
+                mWarningRight.setVisibility(View.GONE);
+                mWarningBottom.setVisibility(View.GONE);
+                startCountDownWithView(mWarningLeft);
+                break;
+            case ALERT_THE_FRONT_CRASH_WARNING_RIGHT:
+                mWarningRight.setVisibility(View.VISIBLE);
+                mWarningTop.setVisibility(View.GONE);
+                mWarningLeft.setVisibility(View.GONE);
+                mWarningBottom.setVisibility(View.GONE);
+                startCountDownWithView(mWarningRight);
+                break;
+            case ALERT_THE_FRONT_CRASH_WARNING_BOTTOM:
+                mWarningBottom.setVisibility(View.VISIBLE);
+                mWarningRight.setVisibility(View.GONE);
+                mWarningTop.setVisibility(View.GONE);
+                mWarningLeft.setVisibility(View.GONE);
+                startCountDownWithView(mWarningBottom);
+                break;
+            default:
+                break;
+        }
+    }
+
+    /*
+     * 预警蒙层显示时间为3秒
+     * */
+    private void startCountDownWithView(ImageView view) {
+        if (runnableV2XEvent == null) {
+            runnableV2XEvent = () -> {
+                EXPIRE_TIMER = EXPIRE_TIMER - COUNT_DOWN_TIMER;
+                Logger.d(TAG, "当前蒙层显示时间为 ：" + EXPIRE_TIMER / COUNT_DOWN_TIMER + " 秒");
+                if (EXPIRE_TIMER > 0) {
+                    handlerV2XEvent.postDelayed(runnableV2XEvent, COUNT_DOWN_TIMER);
+                } else {
+                    view.setVisibility(View.GONE);
+                    stopCountDown();
+                }
+            };
+        } else {
+            handlerV2XEvent.removeCallbacks(runnableV2XEvent);
+        }
+        handlerV2XEvent.postDelayed(runnableV2XEvent, COUNT_DOWN_TIMER);
+    }
+
+    private void stopCountDown() {
+        if (handlerV2XEvent != null && runnableV2XEvent != null) {
+            handlerV2XEvent.removeCallbacks(runnableV2XEvent);
+            runnableV2XEvent = null;
+            EXPIRE_TIMER = ALL_EXPIRE_TIMER;
+        }
     }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
index fce034aab3..336e7d5a27 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XMessageEntity.java
@@ -145,6 +145,14 @@ public class V2XMessageEntity<T> implements Serializable {
         int ALERT_RECOMMEND_ROUTE = 1_011;
         // 基于预判目的地违章高发停车场推荐
         int ALERT_RECOMMEND_PARKING = 1_012;
+        // 前方碰撞预警
+        int ALERT_THE_FRONT_CRASH_WARNING_TOP = 1_0013;
+        // 左前方碰撞预警
+        int ALERT_THE_FRONT_CRASH_WARNING_LEFT = 1_0014;
+        // 右前方碰撞预警
+        int ALERT_THE_FRONT_CRASH_WARNING_RIGHT = 1_0015;
+        // 后方碰撞预警
+        int ALERT_THE_FRONT_CRASH_WARNING_BOTTOM = 1_0016;
         // 推送VR消息展示
         int ALERT_PUSH_VR_SHOW = 2_000;
         // 自车求助
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
index 1fc72806d6..d80612b0dc 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/MainActivity.java
@@ -5,6 +5,7 @@ import android.os.Bundle;
 import android.util.Log;
 import android.view.View;
 import android.widget.FrameLayout;
+import android.widget.ImageView;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -29,6 +30,7 @@ import com.mogo.service.fragmentmanager.FragmentStackTransactionListener;
 import com.mogo.service.fragmentmanager.IMogoFragmentManager;
 import com.mogo.service.module.IMogoModuleProvider;
 import com.mogo.service.statusmanager.IMogoStatusManager;
+import com.mogo.service.v2x.IV2XListener;
 import com.mogo.skin.support.SkinMode;
 import com.mogo.utils.NetworkUtils;
 import com.mogo.utils.logger.Logger;
@@ -64,6 +66,11 @@ public class MainActivity extends MvpActivity< MainView, MainPresenter > impleme
     protected FrameLayout mLeftPanelLayout;
     protected View mLeftShadowFrame;
 
+    protected ImageView mWarningTop;
+    protected ImageView mWarningLeft;
+    protected ImageView mWarningRight;
+    protected ImageView mWarningBottom;
+
     @Override
     protected int getLayoutId() {
         if ( !DebugConfig.isMapBased() ) {
@@ -103,6 +110,11 @@ public class MainActivity extends MvpActivity< MainView, MainPresenter > impleme
         mLeftPanelLayout = findViewById( R.id.module_main_id_left_panel_fragment_container );
         mHistoryMessagePanel = findViewById( R.id.module_main_id_message_history_fragment_container );
 
+        mWarningTop = findViewById(R.id.warning_top);
+        mWarningLeft = findViewById(R.id.warning_left);
+        mWarningRight = findViewById(R.id.warning_right);
+        mWarningBottom = findViewById(R.id.warning_bottom);
+
         // 避免事件穿透导致地图被滑动
         mLeftShadowFrame.setOnClickListener( view -> {
         } );
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
new file mode 100644
index 0000000000..72aa9cfff4
--- /dev/null
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_bottom.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:angle="90"
+        android:endColor="#00F03232"
+        android:startColor="#A5F03232"
+        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
new file mode 100644
index 0000000000..bc04920106
--- /dev/null
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_left.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:angle="0"
+        android:endColor="#00F03232"
+        android:startColor="#A5F03232"
+        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
new file mode 100644
index 0000000000..7300bc5cf7
--- /dev/null
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_right.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:angle="180"
+        android:endColor="#00F03232"
+        android:startColor="#A5F03232"
+        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
new file mode 100644
index 0000000000..a6317a7428
--- /dev/null
+++ b/modules/mogo-module-main/src/main/res/drawable-xhdpi/module_main_warning_bkg_top.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:angle="270"
+        android:endColor="#00FF0606"
+        android:startColor="#8CFF0606"
+        android:type="linear"></gradient>
+</shape>
\ No newline at end of file
diff --git a/modules/mogo-module-main/src/main/res/layout/module_main_activity_main.xml b/modules/mogo-module-main/src/main/res/layout/module_main_activity_main.xml
index 6712a3a36d..b785d02a94 100644
--- a/modules/mogo-module-main/src/main/res/layout/module_main_activity_main.xml
+++ b/modules/mogo-module-main/src/main/res/layout/module_main_activity_main.xml
@@ -2,8 +2,8 @@
 <FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
-    android:background="@color/module_main_window_background_color"
     android:layout_height="match_parent"
+    android:background="@color/module_main_window_background_color"
     android:orientation="vertical">
 
     <!-- 地图-->
@@ -12,6 +12,36 @@
         android:layout_width="match_parent"
         android:layout_height="match_parent" />
 
+    <ImageView
+        android:id="@+id/warning_top"
+        android:layout_width="match_parent"
+        android:layout_height="@dimen/dp_390"
+        android:background="@drawable/module_main_warning_bkg_top"
+        android:visibility="gone" />
+
+    <ImageView
+        android:id="@+id/warning_left"
+        android:layout_width="@dimen/dp_390"
+        android:layout_height="match_parent"
+        android:background="@drawable/module_main_warning_bkg_left"
+        android:visibility="gone" />
+
+    <ImageView
+        android:id="@+id/warning_right"
+        android:layout_width="@dimen/dp_390"
+        android:layout_height="match_parent"
+        android:layout_marginLeft="@dimen/module_main_id_warning_view_marginLeft"
+        android:background="@drawable/module_main_warning_bkg_right"
+        android:visibility="gone" />
+
+    <ImageView
+        android:id="@+id/warning_bottom"
+        android:layout_width="match_parent"
+        android:layout_height="@dimen/dp_390"
+        android:layout_marginTop="@dimen/dp_690"
+        android:background="@drawable/module_main_warning_bkg_bottom"
+        android:visibility="gone" />
+
     <FrameLayout
         android:id="@+id/module_main_id_map_left_shadow_frame"
         android:layout_width="@dimen/module_main_map_left_shadow_frame_width"
diff --git a/modules/mogo-module-main/src/main/res/values-xhdpi/dimens.xml b/modules/mogo-module-main/src/main/res/values-xhdpi/dimens.xml
index d04fe284b7..234c6a3dbe 100644
--- a/modules/mogo-module-main/src/main/res/values-xhdpi/dimens.xml
+++ b/modules/mogo-module-main/src/main/res/values-xhdpi/dimens.xml
@@ -32,4 +32,6 @@
     <dimen name="module_main_event_panel_fragment_paddingBottom">18px</dimen>
     <dimen name="module_main_event_panel_fragment_paddingLeft">18px</dimen>
     <dimen name="module_main_event_panel_fragment_paddingRight">18px</dimen>
+
+    <dimen name="module_main_id_warning_view_marginLeft">1530px</dimen>
 </resources>
\ No newline at end of file
diff --git a/modules/mogo-module-obu/doc/obu.md b/modules/mogo-module-obu/doc/obu.md
new file mode 100644
index 0000000000..7735e59252
--- /dev/null
+++ b/modules/mogo-module-obu/doc/obu.md
@@ -0,0 +1,36 @@
+# OBU
+
+## 基本介绍
+OBU：安装在车上的车载单元，一台车安装一个
+RSU：路测单元，装在路边杆子上的
+
+obu模块入口类是ObuManager
+
+## 基本通信流程
+RSU与OBU可互相通信，OBU与OBU可互相通信，对于我们是黑盒，可以不用关心；
+OBU对外暴露两种通信方式：
+    1. 以OBU为wifi热点，车机连接OBU后，与OBU进行通信，使用这种通信方式，分体机无法和工控机进行通信，而且分体机也没有网，无法和服务端进行通信，所以这种方式基本无用；
+    2. 先用OBU连接车载路由，分体机也连接车载路由，拿到OBU的IP地址后，可与此IP（OBU）进行通信，使用这种通信方式，需要在车载路由上配置OBU的IP地址，__使其固定__，这样每次都连接同一IP地址即可，__目前使用的就是这种方式__；
+
+## 需要处理的数据
+目前将obu返回的数据封装成了三种类型：
+1. 道路事件 MogoObuEventInfo
+2. 红绿灯信息 MogoObuTrafficLightInfo
+3. 自车定位 MogoObuLocationInfo
+目前只用到了道路事件和红绿灯信息，自车定位没有使用。
+
+## 数据展示
+收到obu数据后，是在v2x模块进行的展示，关键类是V2XObuManager和v2x包下scenario/scene/obu下的类，其中一部分是在v2x展示，一部分是通过adas展示，但是在鹰眼模式可能都需要在智慧交通展示，所以做了一个中间类接收给adas的广播，用来处理在鹰眼模式下的展示，关键类AdasNoticeHelper；
+
+## 通信方式
+通信方式分两种：__TCP通信__和__UDP通信__,不同的OBU通信方式也不一样。
+
+### Cidi 希迪 obu
+cidi是接的sdk进行通信，由于sdk封装了ip地址设置这一步，也就是说ip地址在sdk层就已经固定了，无法修改，如果想有修改的话，需要需要把核心sdk抽取出来，重新封装sdk，此步骤可查阅源码进行分析，固定的IP地址为192.168.8.121；
+关键类是CidiObu；
+
+### 华砺智行 obu
+目前应用在了苏州演示项目，采用tcp通信方式，关键类HualiObu，通信关键类是SimpleSocketManager；
+
+### 大唐高鸿 obu
+目前应用在了国展演示项目，采用udp通信方式，关键类是NetCarObu，通信关键类是UdpSocketManager;
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
index 367840cca3..abbc83a430 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MarkerServiceHandler.java
@@ -26,6 +26,7 @@ import com.mogo.service.map.IMogoMapService;
 import com.mogo.service.module.IMogoActionManager;
 import com.mogo.service.module.IMogoRegisterCenter;
 import com.mogo.service.statusmanager.IMogoStatusManager;
+import com.mogo.service.v2x.IV2XProvider;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.carchattingprovider.CallChattingProviderConstant;
 import com.zhidao.carchattingprovider.ICarsChattingProvider;
@@ -59,6 +60,8 @@ public class MarkerServiceHandler {
     private static IMogoLauncher sLauncher;
     private static IMogoFragmentManager sFragmentManager;
     private static ICarsChattingProvider sCarChatting;
+    private static IV2XProvider sIV2XProvider;
+
 //    private static IMogoGpsSimulatorManager sGpsSimulatorManager;
 
     public static synchronized void init( final Context context ) {
@@ -86,6 +89,7 @@ public class MarkerServiceHandler {
         sFragmentManager = sApis.getFragmentManagerApi();
 
         sCarChatting = ( ICarsChattingProvider ) ARouter.getInstance().build( CallChattingProviderConstant.CAR_CALL_PROVIDER ).navigation( context );
+        sIV2XProvider = sApis.getV2XListenerManager();
 
         MapMarkerManager.getInstance().init( context );
 
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/network/RefreshApiService.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/network/RefreshApiService.java
index 8ba5edf003..5e193cf211 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/network/RefreshApiService.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/network/RefreshApiService.java
@@ -26,10 +26,16 @@ public interface RefreshApiService {
     @POST( "/yycp-launcherSnapshot/launcherSnapshot/querySnapshotAsync" )
     Observable< BaseData > refreshData( @FieldMap Map< String, Object > parameters );
 
+    /*
+    * 大而全
+    * */
     @FormUrlEncoded
     @POST( "/yycp-launcherSnapshot/launcherSnapshot/querySnapshotSync" )
     Observable< MarkerResponse > refreshDataSync( @FieldMap Map< String, Object > parameters );
 
+    /*
+    * 周边在线车辆
+    * */
     @FormUrlEncoded
     @POST( "/yycp-launcherSnapshot/user/queryOnLineCarWithRoute" )
     Observable< MarkerResponse > queryOnLineCarWithRoute( @FieldMap Map< String, Object > parameters );
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/receiver/MogoReceiver.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/receiver/MogoReceiver.java
index 5ac444b6c0..07b2ed3cf1 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/receiver/MogoReceiver.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/receiver/MogoReceiver.java
@@ -63,6 +63,9 @@ public class MogoReceiver extends BroadcastReceiver {
     // 同行者 查询xxx堵不堵发送的广播
     public static final String ACTION_TXZ_BLOCK_SEARCH = "com.zhidao.roadcondition.roadinfo";
 
+    //车路云—场景预警
+    public static final String ACTION_V2X_FRONT_WARNING  = "ACTION_V2X_FRONT_WARNING";
+
     private IMogoIntentManager mMogoIntentManager;
 
     public MogoReceiver(Context context) {
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/MoGoV2XServicePaths.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/MoGoV2XServicePaths.java
index 20c8dde883..4248f06ef1 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/MoGoV2XServicePaths.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/MoGoV2XServicePaths.java
@@ -31,4 +31,12 @@ public class MoGoV2XServicePaths {
     @Keep
     public static final String PATH_V2X_POLYLINE_MANAGER = "/v2xPolylineManager/api";
 
+    /**
+     * V2X 道路事件与车辆的连接线
+     */
+    @Keep
+    public static final String PATH_V2X_WARN_POLYLINE_MANAGER = "/v2xWarnPolylineManager/api";
+
+
+
 }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
index d541614125..da66d70c52 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XServiceManager.java
@@ -13,6 +13,7 @@ import com.mogo.module.v2x.alarm.V2XCalculateServer;
 import com.mogo.module.v2x.manager.IMoGoV2XMarkerManager;
 import com.mogo.module.v2x.manager.IMoGoV2XPolylineManager;
 import com.mogo.module.v2x.manager.IMoGoV2XStatusManager;
+import com.mogo.module.v2x.manager.IMoGoWarnPolylineManager;
 import com.mogo.module.v2x.network.V2XRefreshModel;
 import com.mogo.module.v2x.utils.V2XUtils;
 import com.mogo.service.IMogoServiceApis;
@@ -96,6 +97,7 @@ public class V2XServiceManager {
     private static IMoGoV2XMarkerManager moGoV2XMarkerManager;
     private static IMoGoV2XPolylineManager moGoV2XPolylineManager;
     private static IMoGoV2XStatusManager moGoV2XStatusManager;
+    private static IMoGoWarnPolylineManager moGoWarnPolylineManager;
 
     private V2XServiceManager() {
 
@@ -147,6 +149,8 @@ public class V2XServiceManager {
 
             moGoV2XMarkerManager = (IMoGoV2XMarkerManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_MARKER_MANAGER).navigation(context);
             moGoV2XPolylineManager = (IMoGoV2XPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_POLYLINE_MANAGER).navigation(context);
+            moGoWarnPolylineManager = (IMoGoWarnPolylineManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER).navigation(context);
+
             moGoV2XStatusManager = (IMoGoV2XStatusManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_STATUS_MANAGER).navigation(context);
         }
     }
@@ -239,6 +243,10 @@ public class V2XServiceManager {
         return moGoV2XPolylineManager;
     }
 
+    public static IMoGoWarnPolylineManager getMoGoWarnPolylineManager() {
+        return moGoWarnPolylineManager;
+    }
+
     public static IMoGoV2XStatusManager getMoGoV2XStatusManager() {
         if (moGoV2XStatusManager == null) {
             moGoV2XStatusManager = (IMoGoV2XStatusManager) ARouter.getInstance().build(MoGoV2XServicePaths.PATH_V2X_STATUS_MANAGER).navigation(V2XUtils.getApp());
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/IMoGoWarnPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/IMoGoWarnPolylineManager.java
new file mode 100644
index 0000000000..c2a2913d3f
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/IMoGoWarnPolylineManager.java
@@ -0,0 +1,27 @@
+package com.mogo.module.v2x.manager;
+
+import android.content.Context;
+
+import com.alibaba.android.arouter.facade.template.IProvider;
+import com.mogo.map.overlay.IMogoPolyline;
+import com.mogo.module.common.entity.V2XRoadEventEntity;
+
+/**
+ * 绘制可变宽度和渐变的线
+ */
+public interface IMoGoWarnPolylineManager extends IProvider {
+    /**
+     * 绘制连接线，目标车，与当前车辆间连线
+     *
+     * @param context
+     * @param roadEventEntity
+     */
+    void drawableWarnPolyline(Context context, V2XRoadEventEntity roadEventEntity);
+
+    /**
+     * 移除连接线
+     */
+    void clearLine();
+
+    IMogoPolyline getMogoWarnPolyline();
+}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
new file mode 100644
index 0000000000..40d19c0b03
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoWarnPolylineManager.java
@@ -0,0 +1,99 @@
+package com.mogo.module.v2x.manager.impl;
+
+import android.content.Context;
+
+import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.map.MogoLatLng;
+import com.mogo.map.overlay.IMogoPolyline;
+import com.mogo.map.overlay.MogoPolylineOptions;
+import com.mogo.module.common.entity.V2XPoiTypeEnum;
+import com.mogo.module.common.entity.V2XRoadEventEntity;
+import com.mogo.module.v2x.MoGoV2XServicePaths;
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.manager.IMoGoWarnPolylineManager;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 当前车辆与道路事件的连接线
+ */
+@Route(path = MoGoV2XServicePaths.PATH_V2X_WARN_POLYLINE_MANAGER)
+public class MoGoWarnPolylineManager implements IMoGoWarnPolylineManager {
+    private static final String TAG = "MoGoWarnPolylineManager";
+    private static IMogoPolyline mMogoPolyline;
+
+    //TODO liyz
+    @Override
+    public void drawableWarnPolyline(Context context, V2XRoadEventEntity roadEventEntity) {
+        try {
+            if (mMogoPolyline != null) {
+                mMogoPolyline.remove();
+            }
+            if ((V2XServiceManager.getMoGoV2XStatusManager().isRoadEventPOIShow()
+                    || V2XServiceManager.getMoGoV2XStatusManager().isOtherSeekHelpPOIShow())
+                    && V2XServiceManager.getV2XStatusManager().getTargetMoGoLatLng() != null) {
+                // 连接线参数
+                MogoPolylineOptions options = new MogoPolylineOptions();
+
+                // 渐变色
+                List<Integer> colors = new ArrayList<>();
+
+                switch (roadEventEntity.getPoiType()) {
+                    case V2XPoiTypeEnum.ALERT_TRAFFIC_LIGHT_SUGGEST:
+                    case V2XPoiTypeEnum.ALERT_TRAFFIC_LIGHT_WARNING:
+                    case V2XPoiTypeEnum.FOURS_BLOCK_UP:
+                    case V2XPoiTypeEnum.ALERT_CAR_TROUBLE_WARNING + "":
+                        colors.add(0xFFFFA31A);
+                        colors.add(0xFFFFA31A);
+                        break;
+                    default:
+                        colors.add(0xFFE32F46);
+                        colors.add(0xFFE32F46);
+                        break;
+                }
+
+                // 线条粗细，渐变，渐变色值
+                options.width(10).useGradient(true).colorValues(colors);
+
+                // 当前车辆位置
+                MogoLatLng carLocation = V2XServiceManager.getNavi().getCarLocation();
+                if (carLocation != null) {
+                    options.add(carLocation);
+                } else {
+                    options.add(V2XServiceManager.getV2XStatusManager().getLocation());
+                }
+                // 目标车辆位置
+                options.add(V2XServiceManager.getV2XStatusManager().getTargetMoGoLatLng());
+
+                // 绘制线的对象
+                mMogoPolyline = V2XServiceManager.getMogoOverlayManager().addPolyline(options);
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    @Override
+    public void clearLine() {
+        if (mMogoPolyline != null) {
+            mMogoPolyline.remove();
+            mMogoPolyline = null;
+            V2XServiceManager.getV2XStatusManager().setAlarmInfo(null);
+        }
+    }
+
+    @Override
+    public void init(Context context) {
+
+    }
+
+    /**
+     * @return 绘制连接线的对象
+     */
+    @Override
+    public IMogoPolyline getMogoWarnPolyline() {
+        return mMogoPolyline;
+    }
+
+}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
index f46bc7a74b..285d808e28 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/V2XScenarioManager.java
@@ -1,7 +1,6 @@
 package com.mogo.module.v2x.scenario.impl;
 
 import android.content.Intent;
-import android.util.Log;
 
 import androidx.localbroadcastmanager.content.LocalBroadcastManager;
 
@@ -21,6 +20,7 @@ import com.mogo.module.v2x.scenario.scene.pushVR.V2XPushVREventScenario;
 import com.mogo.module.v2x.scenario.scene.road.V2XRoadEventScenario;
 import com.mogo.module.v2x.scenario.scene.seek.V2XSeekHelpScenario;
 import com.mogo.module.v2x.scenario.scene.ugc.V2XEventUgcScenario;
+import com.mogo.module.v2x.scenario.scene.warning.V2XFrontWarningScenario;
 import com.mogo.module.v2x.utils.V2XUtils;
 import com.mogo.utils.TipToast;
 import com.mogo.utils.logger.Logger;
@@ -75,8 +75,8 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                             case V2XMessageEntity.V2XTypeEnum.ALERT_SEEK_WARNING:
                                 mV2XScenario = new V2XSeekHelpScenario();
                                 break;
-                            case V2XMessageEntity.V2XTypeEnum.ALERT_FATIGUE_DRIVING :
-                            case ALERT_RECOMMEND_PARKING :
+                            case V2XMessageEntity.V2XTypeEnum.ALERT_FATIGUE_DRIVING:
+                            case ALERT_RECOMMEND_PARKING:
                                 mV2XScenario = new V2XFatigueDrivingScenario();
                                 break;
                             case V2XMessageEntity.V2XTypeEnum.ALERT_PUSH_WINDOW_WARNING:
@@ -106,6 +106,12 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                             case V2XMessageEntity.V2XTypeEnum.ALERT_PUSH_VR_SHOW:
                                 mV2XScenario = new V2XPushVREventScenario();
                                 break;
+                            case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP:
+                            case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_LEFT:
+                            case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_RIGHT:
+                            case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_BOTTOM:
+                                mV2XScenario = new V2XFrontWarningScenario();
+                                break;
                             default:
                                 mV2XScenario = null;
                                 Logger.e(MODULE_NAME, "当前V2X消息类型未定义。");
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
index ddac88ec6b..919831af2b 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/test/V2XTestConsoleWindow.java
@@ -51,6 +51,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
     private Button mBtnTriggerRoadEvent;
     private Button mBtnClearRoadEvent;
     private Button mBtnTriggerPushEvent;
+    private Button mBtnTriggerWarningEvent;
     private Button mBtnTriggerPushLiveCarEvent;
     private Button mBtnTriggerAnimationEvent;
     private Button mBtnbtnFrontCarLiveEvent;
@@ -112,6 +113,7 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
         mBtnTriggerOpen = findViewById(R.id.btnTriggerOpen);
         mBtnClearRoadEvent = findViewById(R.id.btnClearRoadEvent);
         mBtnTriggerRoadEvent = findViewById(R.id.btnTriggerRoadEvent);
+        mBtnTriggerWarningEvent = findViewById(R.id.btnTriggerWarningEvent);
         mBtnTriggerPushEvent = findViewById(R.id.btnTriggerPushEvent);
         mBtnTriggerPushLiveCarEvent = findViewById(R.id.btnTriggerPushLiveCarEvent);
         mBtnTriggerAnimationEvent = findViewById(R.id.btnTriggerAnimationEvent);
@@ -213,6 +215,16 @@ public class V2XTestConsoleWindow extends ConstraintLayout {
 
         });
 
+        //车路云—场景预警-V1.0 碰撞预警
+        mBtnTriggerWarningEvent.setOnClickListener(v->{
+            V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity =
+                    TestOnLineCarUtils.getV2XScenarioPushFrontWarningEventData();
+
+            Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
+            intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2XMessageEntity);
+            LocalBroadcastManager.getInstance(getContext()).sendBroadcast(intent);
+        });
+
         mBtnTriggerPushEvent.setOnClickListener(v -> {
             V2XMessageEntity<V2XPushMessageEntity> v2XMessageEntity =
                     TestOnLineCarUtils.getV2XScenarioPushEventData();
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
new file mode 100644
index 0000000000..a24044b98c
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XFrontWarningScenario.java
@@ -0,0 +1,132 @@
+package com.mogo.module.v2x.scenario.scene.warning;
+
+import android.content.Context;
+import android.content.Intent;
+import android.util.Log;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.annotation.Nullable;
+
+import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.entity.V2XMessageEntity;
+import com.mogo.module.common.entity.V2XPoiTypeEnum;
+import com.mogo.module.common.entity.V2XPushMessageEntity;
+import com.mogo.module.common.entity.V2XRoadEventEntity;
+import com.mogo.module.service.MarkerServiceHandler;
+import com.mogo.module.service.MogoServices;
+import com.mogo.module.service.receiver.MogoReceiver;
+import com.mogo.module.v2x.R;
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.entity.net.V2XSpecialCarRes;
+import com.mogo.module.v2x.scenario.impl.AbsV2XScenario;
+import com.mogo.module.v2x.utils.ADASUtils;
+import com.mogo.module.v2x.utils.V2XUtils;
+import com.mogo.service.MogoServicePaths;
+import com.mogo.service.impl.MogoServiceApis;
+import com.mogo.service.impl.v2x.V2XManager;
+import com.mogo.service.v2x.IV2XListener;
+import com.mogo.service.v2x.IV2XProvider;
+import com.mogo.service.windowview.IMogoTopViewStatusListener;
+
+import java.util.List;
+
+/**
+ * @author liujing
+ * @description 车路云—场景预警-V1.0  前车/行人/摩托车/盲区碰撞预警
+ * @since: 2021/3/24
+ */
+public class V2XFrontWarningScenario extends AbsV2XScenario implements IMogoTopViewStatusListener {
+    private int type;
+    private IV2XListener mIV2XListener;
+    private List<V2XSpecialCarRes.V2XMarkerEntity> mMarkerEntity;
+    private V2XPushMessageEntity mV2XPushMessageEntity;
+
+    public V2XFrontWarningScenario() {
+        setV2XWindow(new V2XWarningWindow());
+    }
+
+    @Override
+    public void init(@Nullable V2XMessageEntity v2XMessageEntity) {
+        type = v2XMessageEntity.getType();
+        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithType(type, MogoReceiver.ACTION_V2X_FRONT_WARNING);
+        try {
+            if (V2XServiceManager.getMoGoStatusManager().isMainPageOnResume()) {
+                if (getV2XMessageEntity() != null &&
+                        !V2XServiceManager.getMoGoV2XStatusManager().isOtherSeekHelpWindowShow()) {
+                    show();
+                }
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        show();
+    }
+
+    @Override
+    public void show() {
+        showWindow();
+    }
+
+    @Override
+    public void showWindow() {
+//        if (getV2XWindow() != null && mMarkerEntity != null) {
+            View view = getV2XWindow().getView();
+            //Logger.d(MODULE_NAME, "添加window= " + view);
+            ViewGroup.LayoutParams layoutParams =
+                    new ViewGroup.LayoutParams(
+                            ViewGroup.LayoutParams.MATCH_PARENT,
+                            (int) V2XUtils.getApp().getResources().getDimension(R.dimen.module_v2x_fatigue_driving_window_height_ground));
+            V2XServiceManager
+                    .getMogoTopViewManager()
+                    .addView(getV2XWindow().getView(), layoutParams, this);
+            getV2XWindow().show(mV2XPushMessageEntity);
+//        }
+    }
+
+    @Override
+    public void closeWindow() {
+
+    }
+
+    @Override
+    public void showButton() {
+
+    }
+
+    @Override
+    public void closeButton() {
+
+    }
+
+    @Override
+    public void drawPOI() {
+
+    }
+
+    @Override
+    public void clearPOI() {
+
+    }
+
+    @Override
+    public void onViewAdded(View view) {
+
+    }
+
+    @Override
+    public void onViewRemoved(View view) {
+
+    }
+
+    @Override
+    public void beforeViewAddAnim(View view) {
+
+    }
+
+    @Override
+    public void beforeViewRemoveAnim(View view) {
+
+    }
+}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
new file mode 100644
index 0000000000..726d245649
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningWindow.java
@@ -0,0 +1,104 @@
+package com.mogo.module.v2x.scenario.scene.warning;
+
+import android.content.Context;
+import android.os.Handler;
+import android.util.AttributeSet;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.widget.ImageView;
+import android.widget.TextView;
+
+import com.mogo.module.v2x.R;
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.listener.V2XWindowStatusListener;
+import com.mogo.module.v2x.scenario.scene.V2XBasWindow;
+import com.mogo.module.v2x.scenario.view.IV2XWindow;
+import com.mogo.utils.logger.Logger;
+
+/**
+ * @author liujing
+ * @description 车路云—场景预警 http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52829799
+ * @since: 2021/3/25
+ */
+public class V2XWarningWindow extends V2XBasWindow implements IV2XWindow {
+
+    private ImageView typeImage;
+    private TextView warningTextView;
+    private TextView distance;
+
+    //倒计时3s弹框取消
+    private static Handler handlerV2XEvent = new Handler();
+    private static Runnable runnableV2XEvent;
+    private static final int COUNT_DOWN_TIMER = 1_000;
+    private static final int ALL_EXPIRE_TIMER = 3_000;
+    private static int EXPIRE_TIMER = ALL_EXPIRE_TIMER;
+
+    public V2XWarningWindow() {
+        this(V2XServiceManager.getContext(), null);
+    }
+
+    public V2XWarningWindow(Context context, AttributeSet attrs) {
+        this(context, attrs, 0);
+    }
+
+    public V2XWarningWindow(Context context, AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+        initView(context);
+    }
+
+    private void initView(Context context) {
+        LayoutInflater.from(context).inflate(R.layout.v2x_road_front_warning_vr, this);
+        typeImage = findViewById(R.id.warning_type_image);
+        warningTextView = findViewById(R.id.warning_content_text);
+        distance = findViewById(R.id.warning_distance);
+    }
+
+    @Override
+    public void show(Object entity) {
+        if (entity != null) {
+
+        }
+        if (runnableV2XEvent == null) {
+            runnableV2XEvent = () -> {
+                EXPIRE_TIMER = EXPIRE_TIMER - COUNT_DOWN_TIMER;
+                if (EXPIRE_TIMER > 0) {
+                    handlerV2XEvent.postDelayed(runnableV2XEvent, COUNT_DOWN_TIMER);
+                } else {
+                    stopCountDown();
+                }
+            };
+        } else {
+            handlerV2XEvent.removeCallbacks(runnableV2XEvent);
+        }
+        handlerV2XEvent.postDelayed(runnableV2XEvent, COUNT_DOWN_TIMER);
+
+    }
+
+    @Override
+    public void close() {
+        stopCountDown();
+    }
+
+    @Override
+    public View getView() {
+        return this;
+    }
+
+    @Override
+    public void setWindowStatusListener(V2XWindowStatusListener listener) {
+
+    }
+
+    private void stopCountDown() {
+        if (handlerV2XEvent != null && runnableV2XEvent != null) {
+            handlerV2XEvent.removeCallbacks(runnableV2XEvent);
+            runnableV2XEvent = null;
+            EXPIRE_TIMER = ALL_EXPIRE_TIMER;
+        }
+        //移除窗体
+        V2XServiceManager
+                .getMogoTopViewManager()
+                .removeView(this);
+
+    }
+}
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
index 7757a27b51..bd0e95de1e 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
@@ -156,6 +156,35 @@ public class TestOnLineCarUtils {
         return null;
     }
 
+    public static V2XMessageEntity<V2XPushMessageEntity> getV2XScenarioPushFrontWarningEventData() {
+        try {
+            InputStream inputStream = V2XUtils.getApp()
+                    .getResources()
+                    .openRawResource(R.raw.scenario_warning_event_data);
+            ByteArrayOutputStream baos = new ByteArrayOutputStream();
+            int len = -1;
+            byte[] buffer = new byte[1024];
+            while ((len = inputStream.read(buffer)) != -1) {
+                baos.write(buffer, 0, len);
+            }
+            inputStream.close();
+
+            // 加载数据源
+            V2XPushMessageEntity v2xRoadEventEntity = GsonUtil.objectFromJson(baos.toString(), V2XPushMessageEntity.class);
+
+            V2XMessageEntity<V2XPushMessageEntity> v2xMessageEntity = new V2XMessageEntity<>();
+            // 控制类型
+            v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_CRASH_WARNING_TOP);
+            // 设置数据
+            v2xMessageEntity.setContent(v2xRoadEventEntity);
+            // 控制展示状态
+            v2xMessageEntity.setShowState(true);
+            return v2xMessageEntity;
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
 
     /**
      * 模拟H5推送直播数据
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_road_front_car_warning.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_road_front_car_warning.png
new file mode 100644
index 0000000000..f5fd2de5e0
Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_road_front_car_warning.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/drawable/v2x_front_warning_bg.xml b/modules/mogo-module-v2x/src/main/res/drawable/v2x_front_warning_bg.xml
new file mode 100644
index 0000000000..54f571d1e5
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/res/drawable/v2x_front_warning_bg.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?><!--<selector xmlns:android="http://schemas.android.com/apk/res/android">-->
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <gradient
+        android:angle="135"
+        android:endColor="#CC000000"
+        android:startColor="#CC000000"
+        android:type="linear" />
+    <corners android:radius="@dimen/dp_20" />
+</shape>
+
diff --git a/modules/mogo-module-v2x/src/main/res/layout/v2x_road_front_warning_vr.xml b/modules/mogo-module-v2x/src/main/res/layout/v2x_road_front_warning_vr.xml
new file mode 100644
index 0000000000..47b06a1102
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/res/layout/v2x_road_front_warning_vr.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="@dimen/dp_470"
+    android:layout_height="@dimen/dp_140"
+    android:layout_marginLeft="@dimen/dp_190"
+    android:background="@drawable/v2x_front_warning_bg"
+    android:layout_marginTop="@dimen/dp_20">
+
+    <ImageView
+        android:id="@+id/warning_type_image"
+        android:layout_width="@dimen/dp_100"
+        android:layout_height="@dimen/dp_100"
+        android:layout_marginLeft="@dimen/dp_28"
+        android:layout_marginTop="@dimen/dp_20"
+        android:src="@drawable/v2x_road_front_car_warning" />
+
+    <TextView
+        android:id="@+id/warning_distance"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentRight="true"
+        android:layout_centerVertical="true"
+        android:layout_marginRight="@dimen/dp_28"
+        android:maxWidth="@dimen/dp_100"
+        android:text="1.2米"
+        android:textColor="@color/v2x_FF3036"
+        android:textSize="@dimen/dp_32" />
+
+    <TextView
+        android:id="@+id/warning_content_text"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignEnd="@+id/warning_distance"
+        android:layout_centerVertical="true"
+        android:layout_marginLeft="@dimen/dp_20"
+        android:layout_marginRight="@dimen/dp_20"
+        android:layout_toRightOf="@+id/warning_type_image"
+        android:text="前车碰撞预警"
+        android:textColor="@color/v2x_FFF_333"
+        android:textSize="@dimen/dp_32" />
+
+</RelativeLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml b/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml
index b9253925c9..2e1d5e64cb 100644
--- a/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml
+++ b/modules/mogo-module-v2x/src/main/res/layout/window_test_console.xml
@@ -239,6 +239,20 @@
                 android:textSize="@dimen/dp_22"
                 android:textStyle="bold" />
 
+            <Button
+                android:id="@+id/btnTriggerWarningEvent"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginEnd="@dimen/dp_10"
+                android:layout_marginBottom="@dimen/dp_10"
+                android:background="#FF0606"
+                android:padding="@dimen/dp_10"
+                android:text="前车碰撞预警"
+                android:textColor="#FFFFFF"
+                android:textSize="@dimen/dp_22"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintStart_toStartOf="parent" />
+
             <Button
                 android:id="@+id/btnTriggerPushEvent"
                 android:layout_width="wrap_content"
diff --git a/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
new file mode 100644
index 0000000000..3296219142
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/res/raw/scenario_warning_event_data.json
@@ -0,0 +1,12 @@
+{
+  "systemTime":1615529739389,
+  "satelliteTime":1615529739389,
+  "lon":116.411360351446,
+  "lat":39.9760799115428,
+  "alt":34.4648361206054,
+  "heading":359.939618623258,
+  "speed":11.108121,
+  "type":3,
+  "uuid":"2_1",
+  "direction": "0"
+}
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/src/main/res/values/colors.xml b/modules/mogo-module-v2x/src/main/res/values/colors.xml
index d1db9ba5cf..f6c7f09042 100644
--- a/modules/mogo-module-v2x/src/main/res/values/colors.xml
+++ b/modules/mogo-module-v2x/src/main/res/values/colors.xml
@@ -17,5 +17,5 @@
     <color name="v2x_000_FFF">#000000</color>
     <color name="v2x_FFF_2896FF">#FFF</color>
     <color name="v2x_share_des_title_color">#4DFFFFFF</color>
-
+    <color name="v2x_FF3036">#FF3036</color>
 </resources>
\ No newline at end of file
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java b/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
index 8033bc6f97..07eaec56f8 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/IMogoServiceApis.java
@@ -38,6 +38,7 @@ import com.mogo.service.strategy.IMogoOnlineCarListPanelProvider;
 import com.mogo.service.strategy.IMogoRefreshStrategyController;
 import com.mogo.service.share.IMogoTanluProvider;
 import com.mogo.service.share.IMogoTanluUiProvider;
+import com.mogo.service.v2x.IV2XProvider;
 import com.mogo.service.windowview.IMogoTopViewManager;
 import com.mogo.service.windowview.IMogoWindowManager;
 import com.mogo.skin.support.IMogoSkinSupportInstaller;
@@ -71,12 +72,12 @@ public interface IMogoServiceApis extends IProvider {
      *
      * @return
      */
-    IMogoSocketManager getSocketManagerApi( Context context );
+    IMogoSocketManager getSocketManagerApi(Context context);
 
     /**
      * 获取WebSocket操作api
      */
-    IMogoWebSocketManager getWebSocketManagerApi( Context context );
+    IMogoWebSocketManager getWebSocketManagerApi(Context context);
 
     /**
      * 大而全的数据管理接口
@@ -297,6 +298,7 @@ public interface IMogoServiceApis extends IProvider {
 
     /**
      * 获取交通状况服务
+     *
      * @return
      */
     IMogoTrafficUploadProvider getTrafficUploadApi();
@@ -314,4 +316,9 @@ public interface IMogoServiceApis extends IProvider {
      * @return
      */
     IMogoSmallMapProvider getSmallMapProviderApi();
+
+    /*
+     *V2X
+     * */
+    IV2XProvider getV2XListenerManager();
 }
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java b/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
index b7f8ac92f7..9bf3af095d 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/MogoServicePaths.java
@@ -270,7 +270,7 @@ public class MogoServicePaths {
     public static final String PATH_TANLU_UI_API = "/tanlu/ui";
 
     /**
-     * 碰撞报警模块
+     * 碰撞报警模块 已碰撞
      */
     @Deprecated
     public static final String PATH_CRASH_WARNING = "/crash/warning";
@@ -304,4 +304,9 @@ public class MogoServicePaths {
      * 小地图控件
      */
     public static final String PATH_SMALL_MAP = "/small_map/api";
+
+    /*
+    *前方碰撞预警  未碰撞
+    * */
+    public static final String PATH_V2X_FRONT_CRASH_WARNING = "/front/crashwarning";
 }
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XListener.java b/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XListener.java
new file mode 100644
index 0000000000..4931132089
--- /dev/null
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XListener.java
@@ -0,0 +1,10 @@
+package com.mogo.service.v2x;
+
+/**
+ * @author liujing
+ * @description 描述
+ * @since: 2021/3/24
+ */
+public interface IV2XListener {
+    void warningChangedWithType(int type);
+}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XProvider.java b/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XProvider.java
new file mode 100644
index 0000000000..cded9418b3
--- /dev/null
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XProvider.java
@@ -0,0 +1,18 @@
+package com.mogo.service.v2x;
+
+import android.content.Intent;
+
+import com.alibaba.android.arouter.facade.template.IProvider;
+
+/**
+ * @author liujing
+ * @description 描述
+ * @since: 2021/3/24
+ */
+public interface IV2XProvider extends IProvider {
+    public void registerIntentListener(String intent, IV2XListener listener);
+
+    public void unregisterIntentListener(String intent, IV2XListener listener);
+
+    public void warningChangedForListenerWithType(int type, String command);
+}
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java b/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
index f4b22167b9..71b91d31df 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/MogoServiceApis.java
@@ -1,6 +1,7 @@
 package com.mogo.service.impl;
 
 import android.content.Context;
+import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.facade.template.IProvider;
@@ -46,6 +47,7 @@ import com.mogo.service.strategy.IMogoOnlineCarListPanelProvider;
 import com.mogo.service.strategy.IMogoRefreshStrategyController;
 import com.mogo.service.share.IMogoTanluProvider;
 import com.mogo.service.share.IMogoTanluUiProvider;
+import com.mogo.service.v2x.IV2XProvider;
 import com.mogo.service.windowview.IMogoTopViewManager;
 import com.mogo.service.windowview.IMogoWindowManager;
 import com.mogo.skin.support.IMogoSkinSupportInstaller;
@@ -59,7 +61,7 @@ import com.mogo.utils.logger.Logger;
  * 描述
  */
 
-@Route( path = MogoServicePaths.PATH_SERVICE_APIS )
+@Route(path = MogoServicePaths.PATH_SERVICE_APIS)
 public class MogoServiceApis implements IMogoServiceApis {
 
     private static final String TAG = "MogoServiceApis";
@@ -72,18 +74,18 @@ public class MogoServiceApis implements IMogoServiceApis {
     }
 
     @Override
-    public IMogoSocketManager getSocketManagerApi( Context context ) {
-        return getApiInstance( IMogoSocketManager.class, MogoServicePaths.PATH_SOCKET_MANAGER );
+    public IMogoSocketManager getSocketManagerApi(Context context) {
+        return getApiInstance(IMogoSocketManager.class, MogoServicePaths.PATH_SOCKET_MANAGER);
     }
 
     @Override
     public IMogoWebSocketManager getWebSocketManagerApi(Context context) {
-        return getApiInstance( IMogoWebSocketManager.class, MogoServicePaths.PATH_WEB_SOCKET_MANAGER );
+        return getApiInstance(IMogoWebSocketManager.class, MogoServicePaths.PATH_WEB_SOCKET_MANAGER);
     }
 
     @Override
     public IMogoFragmentManager getFragmentManagerApi() {
-        return SingletonsHolder.get( IMogoFragmentManager.class );
+        return SingletonsHolder.get(IMogoFragmentManager.class);
     }
 
     @Override
@@ -98,163 +100,168 @@ public class MogoServiceApis implements IMogoServiceApis {
 
     @Override
     public IMogoMapService getMapServiceApi() {
-        return SingletonsHolder.get( IMogoMapService.class );
+        return SingletonsHolder.get(IMogoMapService.class);
     }
 
     @Override
     public IMogoNetwork getNetworkApi() {
-        return SingletonsHolder.get( IMogoNetwork.class );
+        return SingletonsHolder.get(IMogoNetwork.class);
     }
 
     @Override
     public IMogoMsgCenter getMsgCenterApi() {
-        return SingletonsHolder.get( IMogoMsgCenter.class );
+        return SingletonsHolder.get(IMogoMsgCenter.class);
     }
 
     @Override
     public IMogoStatusManager getStatusManagerApi() {
-        return SingletonsHolder.get( IMogoStatusManager.class );
+        return SingletonsHolder.get(IMogoStatusManager.class);
     }
 
     @Override
-    public void init( Context context ) {
+    public void init(Context context) {
 
     }
 
     @Override
     @Deprecated
     public synchronized IMogoCardManager getCardManagerApi() {
-        return getApiInstance( IMogoCardManager.class, MogoServicePaths.PATH_CARD_MANAGER );
+        return getApiInstance(IMogoCardManager.class, MogoServicePaths.PATH_CARD_MANAGER);
     }
 
     @Override
     public IMogoDataManager getDataManagerApi() {
-        return getApiInstance( IMogoDataManager.class, MogoServicePaths.PATH_DATA_MANAGER );
+        return getApiInstance(IMogoDataManager.class, MogoServicePaths.PATH_DATA_MANAGER);
     }
 
     @Override
     public IMogoRegisterCenter getRegisterCenterApi() {
-        return getApiInstance( IMogoRegisterCenter.class, MogoServicePaths.PATH_REGISTER_CENTER );
+        return getApiInstance(IMogoRegisterCenter.class, MogoServicePaths.PATH_REGISTER_CENTER);
     }
 
     @Override
     public IMogoSearchManager getSearchManagerApi() {
-        return getApiInstance( IMogoSearchManager.class, MogoServicePaths.PATH_SEARCH_MANAGER );
+        return getApiInstance(IMogoSearchManager.class, MogoServicePaths.PATH_SEARCH_MANAGER);
     }
 
     @Override
     public IMogoSettingManager getSettingManagerApi() {
-        return getApiInstance( IMogoSettingManager.class, MogoServicePaths.PATH_SETTING_MANAGER );
+        return getApiInstance(IMogoSettingManager.class, MogoServicePaths.PATH_SETTING_MANAGER);
     }
 
     @Override
     public IMogoWindowManager getWindowManagerApi() {
-        return getApiInstance( IMogoWindowManager.class, MogoServicePaths.PATH_WINDOW_MANAGER );
+        return getApiInstance(IMogoWindowManager.class, MogoServicePaths.PATH_WINDOW_MANAGER);
     }
 
     @Override
     public IMogoADASController getAdasControllerApi() {
-        return getApiInstance( IMogoADASController.class, MogoServicePaths.PATH_ADAS_CONTROLLER );
+        return getApiInstance(IMogoADASController.class, MogoServicePaths.PATH_ADAS_CONTROLLER);
     }
 
     @Override
     public IMogoActionManager getActionManagerApi() {
-        return getApiInstance( IMogoActionManager.class, MogoServicePaths.PATH_ACTION_APIS );
+        return getApiInstance(IMogoActionManager.class, MogoServicePaths.PATH_ACTION_APIS);
     }
 
     @Override
     public IMogoRefreshStrategyController getRefreshStrategyControllerApi() {
-        return getApiInstance( IMogoRefreshStrategyController.class, MogoServicePaths.PATH_REFRESH_STRATEGY_API );
+        return getApiInstance(IMogoRefreshStrategyController.class, MogoServicePaths.PATH_REFRESH_STRATEGY_API);
     }
 
     @Override
     public IMogoAddressManager getAddressManagerApi() {
-        return getApiInstance( IMogoAddressManager.class, MogoServicePaths.PATH_ADDRESS_MANAGER );
+        return getApiInstance(IMogoAddressManager.class, MogoServicePaths.PATH_ADDRESS_MANAGER);
     }
 
     @Override
     public IMogoLauncher getLauncherApi() {
-        return getApiInstance( IMogoLauncher.class, MogoServicePaths.PATH_LAUNCHER_API );
+        return getApiInstance(IMogoLauncher.class, MogoServicePaths.PATH_LAUNCHER_API);
     }
 
     @Override
     public IMogoEntranceButtonController getEntranceButtonController() {
-        return getApiInstance( IMogoEntranceButtonController.class, MogoServicePaths.PATH_ENTRANCE_BUTTON_API );
+        return getApiInstance(IMogoEntranceButtonController.class, MogoServicePaths.PATH_ENTRANCE_BUTTON_API);
     }
 
     @Override
     public IMogoTopViewManager getTopViewManager() {
-        return getApiInstance( IMogoTopViewManager.class, MogoServicePaths.PATH_EXTENSIONS_TOP_VIEW_MANAGER );
+        return getApiInstance(IMogoTopViewManager.class, MogoServicePaths.PATH_EXTENSIONS_TOP_VIEW_MANAGER);
     }
 
     @Override
     public IMogoMarkerService getMarkerService() {
-        return getApiInstance( IMogoMarkerService.class, MogoServicePaths.PATH_MARKER_SERVICE );
+        return getApiInstance(IMogoMarkerService.class, MogoServicePaths.PATH_MARKER_SERVICE);
     }
 
     @Override
     public IMogoShareManager getShareManager() {
-        return getApiInstance( IMogoShareManager.class, MogoServicePaths.PATH_SHARE );
+        return getApiInstance(IMogoShareManager.class, MogoServicePaths.PATH_SHARE);
     }
 
     @Override
     public IEventPanelProvider getEventPanelManager() {
-        return getApiInstance( IEventPanelProvider.class, MogoServicePaths.PATH_EVENT_PANEL );
+        return getApiInstance(IEventPanelProvider.class, MogoServicePaths.PATH_EVENT_PANEL);
     }
 
     @Override
     public IMogoLocationInfoService getLocationInfoApi() {
-        return getApiInstance( IMogoLocationInfoService.class, MogoServicePaths.PATH_LOCATION_INFO );
+        return getApiInstance(IMogoLocationInfoService.class, MogoServicePaths.PATH_LOCATION_INFO);
     }
 
     @Override
     public IMogoPassportManager getPassportManagerApi() {
-        return getApiInstance( IMogoPassportManager.class, MogoServicePaths.PATH_PASSPORT );
+        return getApiInstance(IMogoPassportManager.class, MogoServicePaths.PATH_PASSPORT);
     }
 
     @Override
     public IMogoAuthManager getAuthManagerApi() {
-        return getApiInstance( IMogoAuthManager.class, MogoServicePaths.PATH_AGREEMENT );
+        return getApiInstance(IMogoAuthManager.class, MogoServicePaths.PATH_AGREEMENT);
     }
 
     @Override
     public IMogoTanluProvider getTanluApi() {
-        return getApiInstance( IMogoTanluProvider.class, MogoServicePaths.PATH_TANLU_API );
+        return getApiInstance(IMogoTanluProvider.class, MogoServicePaths.PATH_TANLU_API);
     }
 
     @Override
     public IMogoMonitorProvider getMogoMonitorApi() {
-        return getApiInstance( IMogoMonitorProvider.class, MogoServicePaths.PATH_MOGO_MONITOR );
+        return getApiInstance(IMogoMonitorProvider.class, MogoServicePaths.PATH_MOGO_MONITOR);
     }
 
     @Override
     public IMogoTanluUiProvider getTanluUiApi() {
-        return getApiInstance( IMogoTanluUiProvider.class, MogoServicePaths.PATH_TANLU_UI_API );
+        return getApiInstance(IMogoTanluUiProvider.class, MogoServicePaths.PATH_TANLU_UI_API);
     }
 
     @Override
     public IMogoSkinSupportInstaller getSkinSupportInstallerApi() {
-        return getApiInstance( IMogoSkinSupportInstaller.class, SkinSupportInstallerConstants.PATH );
+        return getApiInstance(IMogoSkinSupportInstaller.class, SkinSupportInstallerConstants.PATH);
     }
 
     @Override
     public IMogoCrashWarnProvider getCrashWarnProvider() {
-        return getApiInstance( IMogoCrashWarnProvider.class, MogoServicePaths.PATH_CRASH_WARNING );
+        return getApiInstance(IMogoCrashWarnProvider.class, MogoServicePaths.PATH_CRASH_WARNING);
     }
 
     @Override
     public IMogoOnlineCarListPanelProvider getOnlineCarPanelApi() {
-        return getApiInstance( IMogoOnlineCarListPanelProvider.class, MogoServicePaths.PATH_ONLINE_CAR_PANEL );
+        return getApiInstance(IMogoOnlineCarListPanelProvider.class, MogoServicePaths.PATH_ONLINE_CAR_PANEL);
     }
 
     @Override
     public IMogoMapFrameController getMapFrameControllerApi() {
-        return getApiInstance( IMogoMapFrameController.class, MogoServicePaths.PATH_MAP_FRAME_CONTROLLER );
+        return getApiInstance(IMogoMapFrameController.class, MogoServicePaths.PATH_MAP_FRAME_CONTROLLER);
     }
 
     @Override
     public IMogoSmallMapProvider getSmallMapProviderApi() {
-        return getApiInstance( IMogoSmallMapProvider.class, MogoServicePaths.PATH_SMALL_MAP );
+        return getApiInstance(IMogoSmallMapProvider.class, MogoServicePaths.PATH_SMALL_MAP);
+    }
+
+    @Override
+    public IV2XProvider getV2XListenerManager() {
+        return getApiInstance(IV2XProvider.class, MogoServicePaths.PATH_V2X_FRONT_CRASH_WARNING);
     }
 
     @Override
@@ -262,19 +269,19 @@ public class MogoServiceApis implements IMogoServiceApis {
         return getApiInstance(IMogoTrafficUploadProvider.class, MogoServicePaths.PATH_TRAFFIC_UPLOAD);
     }
 
-    private static < T extends IProvider > T getApiInstance( Class< T > clazz, String path ) {
-        T inst = SingletonsHolder.get( clazz );
-        if ( inst == null ) {
-            synchronized ( sLock ) {
-                inst = SingletonsHolder.get( clazz );
-                if ( inst != null ) {
+    private static <T extends IProvider> T getApiInstance(Class<T> clazz, String path) {
+        T inst = SingletonsHolder.get(clazz);
+        if (inst == null) {
+            synchronized (sLock) {
+                inst = SingletonsHolder.get(clazz);
+                if (inst != null) {
                     return inst;
                 }
-                T newInst = ( T ) ARouter.getInstance().build( path ).navigation();
+                T newInst = (T) ARouter.getInstance().build(path).navigation();
                 try {
-                    SingletonsHolder.registerApi( clazz, newInst );
-                    Logger.d( TAG, "keep IProvider instance to SingletonHolder: path = %s", path );
-                } catch ( Exception e ) {
+                    SingletonsHolder.registerApi(clazz, newInst);
+                    Logger.d(TAG, "keep IProvider instance to SingletonHolder: path = %s", path);
+                } catch (Exception e) {
                 }
                 return newInst;
             }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 796e1d8887..09e6cd756e 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -722,6 +722,9 @@ public class MogoADASController implements IMogoADASController {
         if ( mLastFrameDatums == null ) {
             return null;
         }
+        if (!DebugConfig.isUseAdasRecognize()) {
+            return null;
+        }
         try {
             List< AdasAIDLOwnerCarRectModel > data = mLastFrameDatums;
             mLastFrameDatums = null;
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/singleton/SingletonsHolder.java b/services/mogo-service/src/main/java/com/mogo/service/impl/singleton/SingletonsHolder.java
index eb14cc7f9b..c9a49021c7 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/singleton/SingletonsHolder.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/singleton/SingletonsHolder.java
@@ -9,11 +9,13 @@ import com.mogo.service.impl.map.MogoMapService;
 import com.mogo.service.impl.network.MogoNetWorkService;
 import com.mogo.service.impl.statusmanager.MogoMsgCenter;
 import com.mogo.service.impl.statusmanager.MogoStatusManager;
+import com.mogo.service.impl.v2x.V2XManager;
 import com.mogo.service.map.IMogoMapService;
 import com.mogo.service.network.IMogoNetwork;
 import com.mogo.service.statusmanager.IMogoMsgCenter;
 import com.mogo.service.statusmanager.IMogoStatusManager;
 import com.mogo.service.strategy.IMogoRefreshStrategyController;
+import com.mogo.service.v2x.IV2XProvider;
 
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
@@ -28,26 +30,27 @@ public class SingletonsHolder {
 
     private static final String TAG = "SingletonsHolder";
 
-    private static final Map< Class, Object > sSingletons = new ConcurrentHashMap<>();
+    private static final Map<Class, Object> sSingletons = new ConcurrentHashMap<>();
 
     static {
-        sSingletons.put( IMogoFragmentManager.class, new MogoFragmentManager() );
-        sSingletons.put( IMogoMapService.class, new MogoMapService() );
-        sSingletons.put( IMogoNetwork.class, new MogoNetWorkService() );
-        sSingletons.put( IMogoMsgCenter.class, new MogoMsgCenter() );
-        sSingletons.put( IMogoStatusManager.class, new MogoStatusManager() );
-        sSingletons.put( IMogoDataManager.class, ARouter.getInstance().navigation( IMogoDataManager.class ) );
-        sSingletons.put( IMogoRefreshStrategyController.class, ARouter.getInstance().navigation( IMogoRefreshStrategyController.class ) );
+        sSingletons.put(IMogoFragmentManager.class, new MogoFragmentManager());
+        sSingletons.put(IMogoMapService.class, new MogoMapService());
+        sSingletons.put(IMogoNetwork.class, new MogoNetWorkService());
+        sSingletons.put(IMogoMsgCenter.class, new MogoMsgCenter());
+        sSingletons.put(IMogoStatusManager.class, new MogoStatusManager());
+        sSingletons.put(IMogoDataManager.class, ARouter.getInstance().navigation(IMogoDataManager.class));
+        sSingletons.put(IMogoRefreshStrategyController.class, ARouter.getInstance().navigation(IMogoRefreshStrategyController.class));
+        sSingletons.put(IV2XProvider.class, new V2XManager());
     }
 
-    public static < T > T get( Class< T > clazz ) {
-        return ( T ) sSingletons.get( clazz );
+    public static <T> T get(Class<T> clazz) {
+        return (T) sSingletons.get(clazz);
     }
 
-    public static < T extends IProvider > void registerApi( Class< ? extends IProvider > api, T impl ) throws Exception {
-        if ( api == null || impl == null ) {
+    public static <T extends IProvider> void registerApi(Class<? extends IProvider> api, T impl) throws Exception {
+        if (api == null || impl == null) {
             return;
         }
-        sSingletons.put( api, impl );
+        sSingletons.put(api, impl);
     }
 }
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/v2x/V2XManager.java b/services/mogo-service/src/main/java/com/mogo/service/impl/v2x/V2XManager.java
new file mode 100644
index 0000000000..e1cb2627d5
--- /dev/null
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/v2x/V2XManager.java
@@ -0,0 +1,67 @@
+package com.mogo.service.impl.v2x;
+
+import android.content.Context;
+import android.content.Intent;
+import android.nfc.Tag;
+import android.util.Log;
+
+import com.alibaba.android.arouter.facade.annotation.Route;
+import com.mogo.service.MogoServicePaths;
+import com.mogo.service.intent.IMogoIntentListener;
+import com.mogo.service.v2x.IV2XListener;
+import com.mogo.service.v2x.IV2XProvider;
+
+import java.util.Iterator;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.CopyOnWriteArrayList;
+
+/**
+ * @author liujing
+ * @description 描述
+ * @since: 2021/3/24
+ */
+@Route(path = MogoServicePaths.PATH_V2X_FRONT_CRASH_WARNING)
+public class V2XManager implements IV2XProvider {
+    private Map<String, CopyOnWriteArrayList<IV2XListener>> mListeners = new ConcurrentHashMap<>();
+
+    @Override
+    public void registerIntentListener(String intent, IV2XListener listener) {
+        if (listener == null || intent == null) {
+            Log.d("V2XManager","listener == null || intent == null");
+            return;
+        }
+        if (!mListeners.containsKey(intent)) {
+            Log.d("V2XManager","intent=="+intent+"listener"+listener);
+            mListeners.put(intent, new CopyOnWriteArrayList<>());
+        }
+        mListeners.get(intent).add(listener);
+    }
+
+    @Override
+    public void unregisterIntentListener(String intent, IV2XListener listener) {
+        if (mListeners.containsKey(intent)) {
+            mListeners.get(intent).remove(listener);
+        }
+    }
+
+    @Override
+    public void warningChangedForListenerWithType(int type, String command) {
+        List<IV2XListener> listeners = mListeners.get(command);
+        if (listeners != null && !listeners.isEmpty()) {
+            Iterator<IV2XListener> iterator = listeners.iterator();
+            while (iterator.hasNext()) {
+                IV2XListener listener = iterator.next();
+                if (listener != null) {
+                    listener.warningChangedWithType(type);
+                }
+            }
+        }
+    }
+
+    @Override
+    public void init(Context context) {
+
+    }
+}