diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
index df3a0a074f..a16bec91f9 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapIdentifySubscriber.kt
@@ -45,6 +45,10 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
             if (FunctionBuildConfig.isDrawIdentifyData) {
                 ThreadUtils.getSinglePool().execute {
                     IdentifyFactory.renderAdasRecognizedResult(trafficData)
+                    val pl = MessagePad.PlanningObject.newBuilder().setUuid(127).build()
+                    val list = mutableListOf<MessagePad.PlanningObject>()
+                    list.add(pl)
+                    IdentifyFactory.renderPlanningWarningObj(list)
                 }
             } else {
                 IdentifyFactory.clearOldMarker()
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
index 31900bad8b..b7b7d2fd09 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -42,12 +42,14 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
     /**
      * 记录每次实际绘制的交通元素UUID
      */
+    @SuppressLint("NewApi")
     private val trafficDataUuidList = ArraySet<String>()
 
     /**
      * 过滤后的数据集合
      */
-    private val mFilterTrafficData = ArrayList<TrackedObject>()
+    @SuppressLint("NewApi")
+    private val mFilterTrafficData = HashMap<String,TrackedObject>()
 
     /**
      * planning 感知物预警缓存，用于重置color状态
@@ -68,7 +70,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                     val trackObj = mMarkersCaches[trackId]
                     trackObj?.let {
                         colorTrafficData[trackId] = PlanningTrack(
-                            "#FFBCB239",
+                            "#BCB239FF",
                             CallerAutoPilotStatusListenerManager.getCurWgs84SatelliteTime()
                         )
                     }
@@ -128,7 +130,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
      *
      * @return 过滤后的数据集合
      */
-    private fun filterTrafficData(trafficData: List<TrackedObject>): ArrayList<TrackedObject> {
+    private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String,TrackedObject> {
         mFilterTrafficData.clear()
         trafficDataUuidList.clear()
         for (data in trafficData) {
@@ -154,7 +156,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
                         colorTrafficData.remove(uuid)
                     }
                 }
-                mFilterTrafficData.add(temp)
+                mFilterTrafficData[uuid] = temp
             }
             mMarkersCaches[uuid] = temp
             trafficDataUuidList.add(uuid)
@@ -165,6 +167,7 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
     /**
      * 清除旧的 marker 数据
      */
+    @SuppressLint("NewApi")
     override fun clearOldMarker() {
         for (uuid in trafficDataUuidList) {
             MogoMarkerManager.getInstance(AbsMogoApplication.getApp())
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
index 71fa51821d..8ad1d08d11 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
@@ -15,13 +15,11 @@ import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
 import com.mogo.map.MogoMarkerManager;
 
-import java.util.ArrayList;
-import java.util.Collections;
+import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
-import java.util.Set;
+import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
-import java.util.function.Consumer;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -50,15 +48,20 @@ public class TrackManager {
     /**
      * 记录每次实际绘制的交通元素UUID
      */
-    private final List<String> trafficDataUuid = Collections.synchronizedList(new ArrayList<>());
+    @SuppressLint("NewApi")
+    private final HashMap<String, Long> trafficDataUuid = new HashMap<>();
 
     /**
      * 过滤后的数据集合
      */
-    private final ArrayList<MessagePad.TrackedObject> mFilterTrafficData = new ArrayList<>();
-
     @SuppressLint("NewApi")
-    public synchronized ArrayList<MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
+    private final HashMap<String, MessagePad.TrackedObject> mFilterTrafficData = new HashMap<>();
+
+    /**
+     * 过滤后的数据集合
+     */
+    @SuppressLint("NewApi")
+    public synchronized HashMap<String, MessagePad.TrackedObject> filterTrafficData(List<MessagePad.TrackedObject> trafficData) {
         //清空上次返回数据，做到缓存复用
         mFilterTrafficData.clear();
         //进入过滤机制的感知物体，首先从缓存队列中进行查找 uuid
@@ -99,10 +102,10 @@ public class TrackManager {
                     trackObj = new TrackObj(data);
                 }
             }
-            mFilterTrafficData.add(trackObj.getCache());
+            mFilterTrafficData.put(uuid, trackObj.getCache());
             cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
             mMarkersCaches.put(uuid, trackObj);
-            trafficDataUuid.add(uuid);
+            trafficDataUuid.put(uuid, System.currentTimeMillis());
         }
         return mFilterTrafficData;
     }
@@ -121,9 +124,10 @@ public class TrackManager {
         }
 
         //清除缓存,删除marker
-        Iterator it = trafficDataUuid.iterator();
+        Iterator<Map.Entry<String, Long>> it = trafficDataUuid.entrySet().iterator();
         while (it.hasNext()) {
-            String key = (String) it.next();
+            Map.Entry<String, Long> next = it.next();
+            String key = next.getKey();
             it.remove();
             removeKey(key);
         }
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
index 11b968b840..435d2a5fe7 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.java
@@ -7,6 +7,7 @@ import com.mogo.map.overlay.MogoPolylineOptions;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -47,7 +48,7 @@ public interface IMogoMap {
      *
      * @param optionsArrayList 锚点集合
      */
-    void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList);
+    void updateBatchMarkerPosition(HashMap<String,MessagePad.TrackedObject> optionsArrayList);
 
     /**
      * 添加感知使用到的3d模型
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
index 9071f7c027..27472b1430 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/IMogoMarkerManager.java
@@ -6,6 +6,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.traffic.TrafficData;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
@@ -41,7 +42,7 @@ public interface IMogoMarkerManager {
      * 批量更新锚点位置
      * @param optionsArrayList 锚点集合
      */
-    void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList);
+    void updateBatchMarkerPosition(HashMap<String,MessagePad.TrackedObject> optionsArrayList);
 
     /**
      * 添加感知使用到的3d模型
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
index 26e7a3aaee..8217248dec 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -1,5 +1,6 @@
 package com.mogo.map;
 
+import android.annotation.SuppressLint;
 import android.content.Context;
 import android.graphics.Point;
 
@@ -31,6 +32,7 @@ import com.zhidaoauto.map.sdk.open.view.MapAutoView;
 import com.zhidaoauto.map.sdk.open.view.MapAutoViewHelper;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 
 import mogo.telematics.pad.MessagePad;
@@ -99,21 +101,20 @@ public class AMapWrapper implements IMogoMap {
         return mogoMarker;
     }
 
+    @SuppressLint("NewApi")
     @Override
-    public void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList) {
+    public void updateBatchMarkerPosition(HashMap<String, MessagePad.TrackedObject> optionsArrayList) {
         if (!checkAMap()) {
             return;
         }
         ArrayList<MarkerSimpleData> markerOptionsArrayList = new ArrayList<>();
-        for (MessagePad.TrackedObject mogoMarkerOptions : optionsArrayList) {
-            MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(mogoMarkerOptions);
-            if (markerOptions == null) {
-                CallerLogger.INSTANCE.e(TAG, "marker参数为空");
-                break;
+        optionsArrayList.forEach((s, trackedObject) -> {
+            MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(trackedObject);
+            if (markerOptions != null) {
+                markerOptionsArrayList.add(markerOptions);
             }
-            markerOptionsArrayList.add(markerOptions);
-        }
-        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList,false,8.0f,1,100,0);
+        });
+        MarkerHelper.INSTANCE.updateBatchMarkerPositon(markerOptionsArrayList, false, 8.0f, 1, 100, 1);
     }
 
     @Override
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
index 68db93e630..f2919f49d1 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/MogoMarkerManager.java
@@ -9,6 +9,7 @@ import com.mogo.map.marker.MogoMarkerOptions;
 import com.mogo.map.marker.MogoMarkersHandler;
 
 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
@@ -69,7 +70,7 @@ public class MogoMarkerManager implements IMogoMarkerManager {
     }
 
     @Override
-    public void updateBatchMarkerPosition(ArrayList<MessagePad.TrackedObject> optionsArrayList) {
+    public void updateBatchMarkerPosition(HashMap<String,MessagePad.TrackedObject> optionsArrayList) {
         try {
             MogoMap.getInstance().getMogoMap().updateBatchMarkerPosition(optionsArrayList);
         } catch (Exception e) {