diff --git a/.idea/misc.xml b/.idea/misc.xml
index 733acb1920..09cc32c567 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -8,7 +8,7 @@
     <asm skipDebug="false" skipFrames="false" skipCode="false" expandFrames="false" />
     <groovy codeStyle="LEGACY" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_1_8" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="1.8" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/build/classes" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.idea/runConfigurations.xml b/.idea/runConfigurations.xml
index 7f68460d8b..e497da9998 100644
--- a/.idea/runConfigurations.xml
+++ b/.idea/runConfigurations.xml
@@ -3,6 +3,7 @@
   <component name="RunConfigurationProducerService">
     <option name="ignoredProducers">
       <set>
+        <option value="com.android.tools.idea.compose.preview.runconfiguration.ComposePreviewRunConfigurationProducer" />
         <option value="org.jetbrains.plugins.gradle.execution.test.runner.AllInPackageGradleConfigurationProducer" />
         <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestClassGradleConfigurationProducer" />
         <option value="org.jetbrains.plugins.gradle.execution.test.runner.TestMethodGradleConfigurationProducer" />
diff --git a/app/build.gradle b/app/build.gradle
index 0208e47f03..e453b51bc8 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -4,6 +4,9 @@ apply plugin: 'kotlin-android'
 apply plugin: 'kotlin-android-extensions'
 apply plugin: 'android-aspectjx'
 
+Properties properties = new Properties();
+properties.load(project.rootProject.file("gradle.properties").newDataInputStream())
+
 android {
     compileSdkVersion rootProject.ext.android.compileSdkVersion
     defaultConfig {
@@ -43,6 +46,9 @@ android {
             zipAlignEnabled false
             shrinkResources false
             signingConfig signingConfigs.release
+            manifestPlaceholders =[
+                    MAP_SDK_VERSION : properties.getProperty("MAP_SDK_VERSION")
+            ]
         }
         release {
             minifyEnabled false
@@ -105,6 +111,7 @@ android {
             buildConfigField 'String', 'SOCKET_APP_ID', '\"com.mogo.launcher\"'
             // 是否支持目的地导航策略
             buildConfigField 'boolean', 'IS_SUPPORT_SCHEDULE_CALCULATE_NOT_HOME_COMPANY_DISTANCE_FOR_PUSH', 'false'
+
         }
         // f系列-网约车-出租车
         fochtaxi {
@@ -241,7 +248,7 @@ android {
             // 车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
             buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
             buildConfigField 'boolean', 'ROAD_EVENT_ANIMATED', 'true'
-            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.fLauncherAmapApiValue,CHANNEL_VALUE: "f8xx"]
+            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.fLauncherAmapApiValue,CHANNEL_VALUE: "fPadLenovo"]
             // 是否使用高德sdk自定义导航
             buildConfigField 'boolean', 'USE_CUSTOM_NAVI', 'false'
             // 是否支持换肤
@@ -261,7 +268,7 @@ android {
             // 是否需要使用工控机的rtk定位
             buildConfigField 'boolean', 'IS_USE_ADAS_RTK_LOCATION_INFO', 'true'
         }
-        // f系列-网约车-出租车
+        // 衡阳-联想Pad-网约车-出租车
         fPadLenovoOchTaxi {
             minSdkVersion rootProject.ext.android.minSdkVersionPadLenovo
             targetSdkVersion rootProject.ext.android.targetSdkVersionPadLenovo
@@ -272,7 +279,7 @@ android {
             // 车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
             buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
             buildConfigField 'boolean', 'ROAD_EVENT_ANIMATED', 'true'
-            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.fLauncherAmapApiValue, CHANNEL_VALUE: "fochtaxi"]
+            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.fLauncherAmapApiValue, CHANNEL_VALUE: "fPadLenovoOchTaxi"]
             // 是否使用高德sdk自定义导航
             buildConfigField 'boolean', 'USE_CUSTOM_NAVI', 'false'
             // 是否支持换肤
@@ -292,7 +299,7 @@ android {
             // 是否需要使用工控机的rtk定位
             buildConfigField 'boolean', 'IS_USE_ADAS_RTK_LOCATION_INFO', 'true'
         }
-        // f系列-网约车-小巴车
+        // 衡阳-联想Pad-网约车-小巴车
         fPadLenovoOchBus {
             minSdkVersion rootProject.ext.android.minSdkVersionPadLenovo
             targetSdkVersion rootProject.ext.android.targetSdkVersionPadLenovo
@@ -303,7 +310,7 @@ android {
             // 车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
             buildConfigField 'int', 'CAR_MACHINE_TYPE', '2'
             buildConfigField 'boolean', 'ROAD_EVENT_ANIMATED', 'true'
-            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.fLauncherAmapApiValue,CHANNEL_VALUE: "fochbus"]
+            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.fLauncherAmapApiValue,CHANNEL_VALUE: "fPadLenovoOchBus"]
             // 是否使用高德sdk自定义导航
             buildConfigField 'boolean', 'USE_CUSTOM_NAVI', 'false'
             // 是否支持换肤
diff --git a/app/functions/aicloudservices.gradle b/app/functions/aicloudservices.gradle
index 27db3d472c..dbee77dc8d 100644
--- a/app/functions/aicloudservices.gradle
+++ b/app/functions/aicloudservices.gradle
@@ -32,13 +32,13 @@ project.dependencies {
         em4Implementation project(':foudations:mogo-aicloud-services-apk')
         e8xxImplementation project(':foudations:mogo-aicloud-services-apk')
         f8xxImplementation project(':foudations:mogo-aicloud-services-apk')
-        fPadLenovoImplementation project(':foudations:mogo-aicloud-services-apk')
+        fPadLenovoImplementation project(':foudations:mogo-aicloud-services-sdk')
         f80xImplementation project(':foudations:mogo-aicloud-services-apk')
         f8AmapImplementation project(':foudations:mogo-aicloud-services-apk')
         em3Implementation project(':foudations:mogo-aicloud-services-apk')
         fochtaxiImplementation project(':foudations:mogo-aicloud-services-apk')
         fochbusImplementation project(':foudations:mogo-aicloud-services-apk')
-        fPadLenovoOchTaxiImplementation project(':foudations:mogo-aicloud-services-apk')
-        fPadLenovoOchBusImplementation project(':foudations:mogo-aicloud-services-apk')
+        fPadLenovoOchTaxiImplementation project(':foudations:mogo-aicloud-services-sdk')
+        fPadLenovoOchBusImplementation project(':foudations:mogo-aicloud-services-sdk')
     }
 }
\ No newline at end of file
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
index f9b68f4e86..0743954a19 100644
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@@ -29,6 +29,10 @@
         <meta-data
             android:name="com.amap.api.v2.apikey"
             android:value="${AMAP_API_VALUE}" />
+
+        <meta-data
+            android:name="MAP_SDK_VERSION"
+            android:value="${MAP_SDK_VERSION}" />
         <!--保活用-->
         <service
             android:name="com.zhidao.boot.persistent.lib.PersistentAliveService"
diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index b1f95be36b..a9f0f172b1 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -282,7 +282,7 @@ public class MogoApplication extends AbsMogoApplication {
             startService(intent);
         }
 
-        if (refWatcher != null){
+        if (refWatcher == null){
             refWatcher  = LeakCanary.install(this);
         }
 
diff --git a/config.gradle b/config.gradle
index 325b270279..8b28c2b2ed 100644
--- a/config.gradle
+++ b/config.gradle
@@ -97,6 +97,8 @@ ext {
             mapcustom                  : "com.mogo.map:map-custom:${MAP_CUSTOM_VERSION}",
             mogomap                    : "com.mogo.map:mogo-map:${MOGO_MAP_VERSION}",
             mogomapapi                 : "com.mogo.map:mogo-map-api:${MOGO_MAP_API_VERSION}",
+            mogocustommap              : "com.zhidaoauto.machine:map:${MAP_SDK_VERSION}",
+
             modulecommon               : "com.mogo.module:module-common:${MOGO_MODULE_COMMON_VERSION}",
             modulemain                 : "com.mogo.module:module-main:${MOGO_MODULE_MAIN_VERSION}",
             modulemainlauncher         : "com.mogo.module:module-main-launcher:${MOGO_MODULE_MAIN_LAUNCHER_VERSION}",
@@ -169,6 +171,9 @@ ext {
 
             // obu sdk
             obusdk                     : "com.zhidao.enterprise.smartv2x:smartv2x:1.0.0.3",
+//            mebulaobu                  : 'com.zhidao.support.nebulaobu:nebulaobu:1.0.0.3',
+            mogoobu                    : 'com.zhidao.support.obu:mogoobu:1.0.0.2',
+
             // 左侧面板
             moduleleftpanel            : "com.mogo.module:module-left-panel:${MOGO_MODULE_LEFT_PANEL_VERSION}",
             // 左侧面板空实现
diff --git a/foudations/mogo-aicloud-services-sdk/build.gradle b/foudations/mogo-aicloud-services-sdk/build.gradle
index 20e38a2891..8e37ce031a 100644
--- a/foudations/mogo-aicloud-services-sdk/build.gradle
+++ b/foudations/mogo-aicloud-services-sdk/build.gradle
@@ -38,6 +38,8 @@ dependencies {
         implementation project(":foudations:mogo-commons")
         implementation project(":services:mogo-service-api")
     }
+
+    annotationProcessor 'com.elegant.spi:compiler:1.0.3'
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
\ No newline at end of file
diff --git a/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java b/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java
index ef027bcaac..a28fa486dd 100644
--- a/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java
+++ b/foudations/mogo-utils/src/main/java/com/mogo/utils/AppUtils.java
@@ -6,7 +6,9 @@ import android.content.Context;
 import android.content.pm.ApplicationInfo;
 import android.content.pm.PackageInfo;
 import android.content.pm.PackageManager;
+import android.os.Bundle;
 import android.text.TextUtils;
+import android.util.Log;
 
 import java.util.List;
 
@@ -58,6 +60,25 @@ public class AppUtils {
         }
     }
 
+    private static final String MOGO_MAP_SDK_VERSION = "MAP_SDK_VERSION";
+
+    public static String getCustomMapSDKVersion(Context context){
+        return   getApplicationMetaValue(context,MOGO_MAP_SDK_VERSION);
+    }
+
+    private static String getApplicationMetaValue(Context context,String metaName){
+        try {
+            ApplicationInfo  applicationInfo =  context.getPackageManager().getApplicationInfo(context.getPackageName(),PackageManager.GET_META_DATA);
+            Bundle bundle = applicationInfo.metaData;
+            if (bundle != null){
+                return  bundle.getString(metaName);
+            }
+        } catch (PackageManager.NameNotFoundException e) {
+            e.printStackTrace();
+        }
+        return "";
+    }
+
     public static boolean isAppForeground( Context context ) {
         if ( context != null ) {
             ActivityManager activityManager = ( ActivityManager ) context.getSystemService( Context.ACTIVITY_SERVICE );
diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index f3410ff59f..51f10f5b16 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -66,8 +66,8 @@ dependencies {
         implementation project(':libraries:mogo-map-api')
         implementation project(':foudations:mogo-commons')
     }
-
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.44'
+    implementation rootProject.ext.dependencies.mogocustommap
+//    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.5.47'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }
 
diff --git a/libraries/map-custom/map-version-update b/libraries/map-custom/map-version-update
index 796c7a7670..58e04c8742 100644
--- a/libraries/map-custom/map-version-update
+++ b/libraries/map-custom/map-version-update
@@ -76,4 +76,16 @@ mapAutoView.getMapAutoViewHelper()?.setNearViewAnglePosition（LonLatPoint(112.5
 8.5.40
 修改崩溃bug
 更新路牌数据
-修改近视角切换
\ No newline at end of file
+修改近视角切换
+
+8.5.47
+修改绿化带相关
+修改crash bug
+更新衡阳数据
+
+8.5.48
+fix crash
+
+8.5.49
+1.更新衡阳数据（包含38Km和城区200km）
+2.新增路牌
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
index 07a5a29fe5..fa50c2e6bf 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -353,6 +353,9 @@ public class AMapViewWrapper implements IMogoMapView,
                     setUIMode(ui);
                     break;
                 case Type_VR:
+                    if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
+                        mMapView.getMapAutoViewHelper().setScaleVRMode(true);
+                    }
                     mMapView.getMapAutoViewHelper().setMapStyle(MapAutoApi.MAP_STYLE_VR);
                     return;
                 case Type_Light:
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
index c5655e7cc7..6a2100fecc 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/utils/ObjectUtils.java
@@ -100,6 +100,7 @@ public class ObjectUtils {
                 .setFlat( opt.isFlat() )
                 .visible( opt.isVisible() )
                 .infoWindowEnable( opt.isInifoWindowEnable() )
+                .scale(opt.getScale())
                 .alpha( opt.getAlpha() )
 //                .draggable( opt.isDraggable() )
                 .setInfoWindowOffset( opt.getOffsetX(), opt.getOffsetY() )
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
index ef265d0788..d6307452fe 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/marker/MogoMarkerOptions.java
@@ -43,6 +43,9 @@ public class MogoMarkerOptions extends Observable {
     // 设置Marker覆盖物的透明度
     private float alpha = 1.0f;
 
+    // 设置Marker覆盖物的缩放
+    private float scale = 1.0f;
+
     // Marker覆盖物的坐标是否是Gps
     private boolean isGps = false;
 
@@ -220,6 +223,12 @@ public class MogoMarkerOptions extends Observable {
         return this;
     }
 
+    public MogoMarkerOptions scale( float scale ) {
+        this.scale = scale;
+        return this;
+    }
+
+
     public MogoMarkerOptions gps( boolean gps ) {
         isGps = gps;
         return this;
@@ -326,6 +335,10 @@ public class MogoMarkerOptions extends Observable {
         return alpha;
     }
 
+    public float getScale() {
+        return scale;
+    }
+
     public boolean isGps() {
         return isGps;
     }
@@ -403,6 +416,7 @@ public class MogoMarkerOptions extends Observable {
                 ", visible=" + visible +
                 ", inifoWindowEnable=" + inifoWindowEnable +
                 ", alpha=" + alpha +
+                " ,scale=" + scale+
                 ", isGps=" + isGps +
                 ", u=" + u +
                 ", v=" + v +
diff --git a/modules/mogo-module-adas/build.gradle b/modules/mogo-module-adas/build.gradle
index cea9d8ac5c..dd802e716d 100644
--- a/modules/mogo-module-adas/build.gradle
+++ b/modules/mogo-module-adas/build.gradle
@@ -38,7 +38,7 @@ dependencies {
     implementation rootProject.ext.dependencies.androidxappcompat
     implementation rootProject.ext.dependencies.androidxconstraintlayout
     implementation rootProject.ext.dependencies.arouter
-
+    implementation rootProject.ext.dependencies.rxandroid
 
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
 
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasConstant.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasConstant.java
new file mode 100644
index 0000000000..3bff73bac8
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasConstant.java
@@ -0,0 +1,11 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/5/28 15:24
+ */
+public class AdasConstant {
+    public static final String HOST_DEV = "http://dzt-test.zhidaohulian.com";
+    public static final String HOST_TEST = "http://dzt-test.zhidaohulian.com";
+    public static final String HOST_DEMO = "http://dzt-show.zhidaohulian.com";
+    public static final String HOST_PRODUCT = "https://dzt.zhidaohulian.com";
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index c8b768b081..d4b8b69e37 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -1,7 +1,14 @@
 package com.mogo.module.adas;
 
+import android.os.RemoteException;
+
 import com.google.gson.Gson;
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
+import com.mogo.commons.data.BaseData;
+import com.mogo.commons.network.SubscribeImpl;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.utils.logger.Logger;
+import com.mogo.utils.network.RequestOptions;
 import com.mogo.utils.network.utils.GsonUtil;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
@@ -18,6 +25,18 @@ import com.zhidao.support.adas.high.bean.WarnMessageInfo;
 import com.zhidao.support.adas.high.common.MsgActionType;
 
 import java.util.ArrayList;
+import java.util.concurrent.TimeUnit;
+
+import io.reactivex.Flowable;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.annotations.NonNull;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.functions.Consumer;
+import io.reactivex.schedulers.Schedulers;
+import okhttp3.MediaType;
+import okhttp3.RequestBody;
+
+import static com.mogo.commons.context.ContextHolderUtil.getContext;
 
 /**
  * Created by XuYong on 2021/4/25 14:43
@@ -25,14 +44,22 @@ import java.util.ArrayList;
 public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusListener {
 
     private final String TAG = "AdasEventManager";
-
     private final Gson gson;
-
     private final ArrayList<AdasDataListener> iAdasEventListeners = new ArrayList<>();
     private final ArrayList<AdasStatusListener> iAdasStatusListeners = new ArrayList<>();
+    private IAdasApiService mAdasApiService;
+    private Disposable uploadAutopilotStatus;
+    //自动驾驶状态
+    private int mCurrentAutopilotStatus = -1;
+    //自动驾驶车速度
+    private float mCurrentAutopilotSpeed = 0;
+    private Disposable mdDisposable;
+    //自动驾驶状态
+    private AutopilotStatus.ValuesBean mAutopilotStatus = null;
 
     public AdasEventManager() {
         gson =  GsonUtil.getGson();
+        mAdasApiService =  MogoApisHandler.getInstance().getApis().getNetworkApi().create( IAdasApiService.class, AdasConstant.HOST_PRODUCT );
     }
 
     public void addEventListener(AdasDataListener listener) {
@@ -65,6 +92,11 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         }
     }
 
+    public void removeStatusListener() {
+        Logger.d(TAG,"注销adas状态事件监听");
+        iAdasStatusListeners.clear();
+    }
+
     @Override
     public void onWarnMessage(WarnMessageInfo warnMessageInfo) {
         Logger.d(TAG,"onWarnMessage " + warnMessageInfo);
@@ -145,7 +177,6 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
         AutopilotStatus.ValuesBean mAutopilotStatus;
 
-
         if (autopilotStatusValues != null) {
             AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel=new AdasAIDLAutopilotStateModel();
             adasAIDLAutopilotStateModel.setReason(autopilotStatusValues.getReason());
@@ -154,14 +185,15 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
             float speed = autopilotStatusValues.getSpeed();
             adasAIDLAutopilotStateModel.setState(state);
             adasAIDLAutopilotStateModel.setSpeed(speed);
-
+            mCurrentAutopilotStatus = state;
+            mCurrentAutopilotSpeed = speed;
             for (AdasDataListener listener:iAdasEventListeners) {
                 if (listener != null) {
                     listener.notifyAutopilotState(adasAIDLAutopilotStateModel);
                 }
             }
-        }
 
+        }
     }
 
     @Override
@@ -174,8 +206,12 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
                 if (endLatLon != null) {
                     AdasAIDLAutopilotArriveModel adasAIDLAutopilotArriveModel = new AdasAIDLAutopilotArriveModel();
                     adasAIDLAutopilotArriveModel.setCarType(result.getCarType());
-                    adasAIDLAutopilotArriveModel.setLat(endLatLon.getLat());
-                    adasAIDLAutopilotArriveModel.setLon(endLatLon.getLon());
+                    double lon = endLatLon.getLon();
+                    double lat = endLatLon.getLat();
+                    adasAIDLAutopilotArriveModel.setLat(lat);
+                    adasAIDLAutopilotArriveModel.setLon(lon);
+                    Logger.d(TAG,"autopilotArrive reportSite");
+                    reportSite(lon, lat);
                     for (AdasDataListener listener:iAdasEventListeners) {
                         if (listener != null) {
                             listener.autopilotArrive(adasAIDLAutopilotArriveModel);
@@ -197,6 +233,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
         for (AdasStatusListener listener :iAdasStatusListeners) {
             listener.onServiceConnected();
         }
+        updateDriveStatusTask();
     }
 
     @Override
@@ -206,4 +243,78 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
             listener.onServiceDisconnected();
         }
     }
+
+    public void updateDriveStatusTask() {
+        Logger.d(TAG,"updateDriveStatusTask");
+        mdDisposable = Flowable.interval(0,5, TimeUnit.SECONDS)
+                .subscribeOn(Schedulers.io())
+                .unsubscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(new Consumer<Long>() {
+                    @Override
+                    public void accept(@NonNull Long aLong) throws Exception {
+                        updateDriveStatus();
+                    }
+                });
+    }
+
+    private void updateDriveStatus() {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        AutonomousDriveStatusBean request = new AutonomousDriveStatusBean(sn, mCurrentAutopilotStatus, mCurrentAutopilotSpeed);
+        RequestBody requestBody = RequestBody.create( MediaType.get( "application/json;charset=UTF-8" ), GsonUtil.jsonFromObject( request ) );
+        mAdasApiService.updateAutonomousDriveStatus(requestBody).
+                 subscribeOn( Schedulers.io() ).observeOn( AndroidSchedulers.mainThread() )
+                 .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
+                     @Override
+                     public void onError(String message, int code) {
+                         super.onError(message, code);
+                     }
+
+                     @Override
+                     public void onError(Throwable e) {
+                         super.onError(e);
+                     }
+
+                     @Override
+                     public void onSuccess(BaseData o) {
+                         super.onSuccess(o);
+                         Logger.d(TAG,"updateDriveStatus success");
+                     }
+                 });
+    }
+
+    private void reportSite( double lon, double lat) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        ReportSiteBean reportSiteBean = new ReportSiteBean(sn, lon, lat);
+        RequestBody requestBody = RequestBody.create( MediaType.get( "application/json;charset=UTF-8" ), GsonUtil.jsonFromObject( reportSiteBean ) );
+        mAdasApiService.updateReportSite(requestBody).
+                subscribeOn( Schedulers.io() ).observeOn( AndroidSchedulers.mainThread() )
+                .subscribe(new SubscribeImpl<BaseData>(RequestOptions.create(getContext())) {
+                    @Override
+                    public void onError(String message, int code) {
+                        super.onError(message, code);
+                    }
+
+                    @Override
+                    public void onError(Throwable e) {
+                        super.onError(e);
+                    }
+
+                    @Override
+                    public void onSuccess(BaseData o) {
+                        super.onSuccess(o);
+                        Logger.d(TAG,"autopilotArrive success");
+                    }
+                });
+    }
+
+    public AdasAIDLAutopilotStateModel autopilotStateCall() {
+        AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel=new AdasAIDLAutopilotStateModel();
+        if (mAutopilotStatus != null) {
+            adasAIDLAutopilotStateModel.setSpeed(mAutopilotStatus.getSpeed());
+            adasAIDLAutopilotStateModel.setState(mAutopilotStatus.getState());
+            adasAIDLAutopilotStateModel.setReason(mAutopilotStatus.getReason());
+        }
+        return adasAIDLAutopilotStateModel;
+    }
 }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
index 4db28d6873..4809eac748 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -6,6 +6,8 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.utils.logger.Logger;
+import com.zhidao.autopilot.support.api.AutopilotServiceManage;
+import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
 
 
@@ -51,8 +53,46 @@ public class AdasProvider implements IProvider {
         adasEventManager.removeStatusListener(listener);
     }
 
+    public void removeAdasStatusListener() {
+        adasEventManager.removeStatusListener();
+    }
+
     public void sendWsMessage(String msg) {
         AdasManager.getInstance().aiCloudToAdasData(msg);
     }
 
+    public void cancelPolit() {
+        if (AdasManager.getInstance().isSocketConnect()) {
+            AdasManager.getInstance().controlAutopilotCarHead();
+        }
+    }
+
+    public void hideAdas() {
+
+    }
+
+    public void showAdas() {
+
+    }
+
+    public void killAdas() {
+
+    }
+
+    //原ADAS sdk中为空实现
+    public void settingCarModelListInfo(String msg) {
+
+    }
+
+    //原ADAS sdk中为空实现
+    public void setSettingStatus(boolean show) {
+    }
+
+    //原ADAS sdk中为空实现
+    public void setUseAlgorithm(boolean open) {
+    }
+
+    public AdasAIDLAutopilotStateModel autopilotStateCall() {
+        return adasEventManager.autopilotStateCall();
+    }
 }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java
new file mode 100644
index 0000000000..686ae78eb0
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AutonomousDriveStatusBean.java
@@ -0,0 +1,41 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/5/28 16:12
+ */
+public class AutonomousDriveStatusBean {
+
+    private String sn;
+    private int status;
+    private float vehicleSpeed;
+
+    public AutonomousDriveStatusBean(String sn, int status, float vehicleSpeed) {
+        this.sn = sn;
+        this.status = status;
+        this.vehicleSpeed = vehicleSpeed;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public int getStatus() {
+        return status;
+    }
+
+    public void setStatus(int status) {
+        this.status = status;
+    }
+
+    public float getVehicleSpeed() {
+        return vehicleSpeed;
+    }
+
+    public void setVehicleSpeed(float vehicleSpeed) {
+        this.vehicleSpeed = vehicleSpeed;
+    }
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasApiService.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasApiService.java
new file mode 100644
index 0000000000..d1c58c2da9
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasApiService.java
@@ -0,0 +1,24 @@
+package com.mogo.module.adas;
+
+import com.mogo.commons.data.BaseData;
+
+import io.reactivex.Observable;
+import okhttp3.RequestBody;
+import retrofit2.http.Body;
+import retrofit2.http.Headers;
+import retrofit2.http.POST;
+
+/**
+ * Created by XuYong on 2021/5/28 14:24
+ */
+public interface IAdasApiService {
+
+    //上传自动驾驶状态接口
+    @Headers( {"Content-Type:application/json;charset=UTF-8"} )
+    @POST( "/yycp-carDataService/autonomousDrive/updateAutonomousDriveStatus" )
+    Observable<BaseData> updateAutonomousDriveStatus(@Body RequestBody requestBody );
+    //站点上报
+    @Headers( {"Content-Type:application/json;charset=UTF-8"} )
+    @POST( "/yycp-carDataService/autonomousDrive/reportSite" )
+    Observable<BaseData> updateReportSite(@Body RequestBody requestBody );
+}
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java
new file mode 100644
index 0000000000..76677e00ba
--- /dev/null
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/ReportSiteBean.java
@@ -0,0 +1,40 @@
+package com.mogo.module.adas;
+
+/**
+ * Created by XuYong on 2021/5/31 16:24
+ */
+public class ReportSiteBean {
+    private String sn;
+    private double lon;
+    private double lat;
+
+    public ReportSiteBean(String sn, double lon, double lat) {
+        this.sn = sn;
+        this.lon = lon;
+        this.lat = lat;
+    }
+
+    public String getSn() {
+        return sn;
+    }
+
+    public void setSn(String sn) {
+        this.sn = sn;
+    }
+
+    public double getLon() {
+        return lon;
+    }
+
+    public void setLon(double lon) {
+        this.lon = lon;
+    }
+
+    public double getLat() {
+        return lat;
+    }
+
+    public void setLat(double lat) {
+        this.lat = lat;
+    }
+}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/dialog/BaseFloatDialog.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/dialog/BaseFloatDialog.java
index d70fa857b7..f91164acf6 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/dialog/BaseFloatDialog.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/dialog/BaseFloatDialog.java
@@ -2,6 +2,7 @@ package com.mogo.module.common.dialog;
 
 import android.app.Dialog;
 import android.content.Context;
+import android.os.Build;
 import android.view.WindowManager;
 
 import androidx.annotation.NonNull;
@@ -32,7 +33,11 @@ public class BaseFloatDialog extends Dialog {
     }
 
     private void addFlag() {
-        getWindow().setType(WindowManager.LayoutParams.TYPE_SYSTEM_ALERT);
+        if ( Build.VERSION.SDK_INT >= Build.VERSION_CODES.O ) {
+            getWindow().setType(WindowManager.LayoutParams.TYPE_APPLICATION_OVERLAY);
+        } else {
+            getWindow().setType(WindowManager.LayoutParams.TYPE_SYSTEM_ALERT);
+        }
         getWindow().addFlags(WindowManager.LayoutParams.FLAG_LAYOUT_IN_SCREEN
                 | WindowManager.LayoutParams.FLAG_TRANSLUCENT_NAVIGATION
                 | WindowManager.LayoutParams.FLAG_LOCAL_FOCUS_MODE);
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
index 10f2642c69..68c7eab6c7 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
@@ -275,6 +275,7 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
 
         final long start = System.currentTimeMillis();
         Log.d("EmArrow", "renderAdasOneFrame uuid :  " + uniqueKey + "  type : " + recognizedListResult.type);
+        Log.d("EmArrow", "renderAdasOneFrame Process.myPid :  " + android.os.Process.myPid());
         ADASRecognizedResult lastPosition = mLastPositions.remove(uniqueKey);
 //        double lastLon = -1;
 //        double lastLat = -1;
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
index 58d286ab95..9625a3d9ec 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/BaseDrawer.java
@@ -180,11 +180,9 @@ class BaseDrawer {
         AdasRecognizedType recognizedType = AdasRecognizedType.valueFrom(type);
         if (recognizedType == AdasRecognizedType.classIdCar) {
             return R.raw.othercar;
-        } else if (recognizedType == AdasRecognizedType.classIdTrafficBus
-                || recognizedType == AdasRecognizedType.classIdTrafficTruck) {
+        } else if (recognizedType == AdasRecognizedType.classIdTrafficBus) {
             return R.raw.bus;
-        } else if (recognizedType == AdasRecognizedType.classIdBicycle
-                || recognizedType == AdasRecognizedType.classIdMoto) {
+        } else if (recognizedType == AdasRecognizedType.classIdMoto) {
             return R.raw.motorbike;
         } else if (recognizedType == AdasRecognizedType.classIdStopLine) {
             return R.raw.stopline;
@@ -192,6 +190,10 @@ class BaseDrawer {
             return R.raw.arraw;
         } else if (recognizedType == AdasRecognizedType.classIdUnKnow) {
             return R.raw.tache;
+        }else if(recognizedType == AdasRecognizedType.classIdBicycle){
+            return R.raw.zixingche;
+        }else if(recognizedType == AdasRecognizedType.classIdTrafficTruck){
+            return R.raw.kache;
         }
         return R.raw.people;
     }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XWarningEntity.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XWarningEntity.java
index 961ab2f5b8..82b9d9ff42 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XWarningEntity.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/entity/V2XWarningEntity.java
@@ -54,6 +54,7 @@ public class V2XWarningEntity implements Serializable {
     public long satelliteTime;
     //预警蒙层等展示时长
     private long showTime;
+    //设计划线宽度与道路同宽
     private float roadwidth;
 
     //自组字段
diff --git a/modules/mogo-module-common/src/main/res/raw/kache.n3d b/modules/mogo-module-common/src/main/res/raw/kache.n3d
new file mode 100644
index 0000000000..4a5f519e2c
Binary files /dev/null and b/modules/mogo-module-common/src/main/res/raw/kache.n3d differ
diff --git a/modules/mogo-module-common/src/main/res/raw/zixingche.n3d b/modules/mogo-module-common/src/main/res/raw/zixingche.n3d
new file mode 100644
index 0000000000..afee072bf7
Binary files /dev/null and b/modules/mogo-module-common/src/main/res/raw/zixingche.n3d differ
diff --git a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
index b693e5557c..038dc5a7eb 100644
--- a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
+++ b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
@@ -6,4 +6,10 @@
     <dimen name="module_v2n_tip_text_width">106px</dimen>
     <dimen name="module_v2n_tip_text_margin_right">52px</dimen>
     <dimen name="module_v2n_image_margin_left">37px</dimen>
+    <dimen name="module_v2x_brake_tip_width">435px</dimen>
+    <dimen name="module_v2x_brake_tip_height">186px</dimen>
+    <dimen name="module_v2x_brake_image_width">133px</dimen>
+    <dimen name="module_v2x_brake_image_margin_left">37px</dimen>
+    <dimen name="module_v2x_brake_image_margin_right">27px</dimen>
+
 </resources>
diff --git a/modules/mogo-module-common/src/main/res/values-xhdpi/dimens.xml b/modules/mogo-module-common/src/main/res/values-xhdpi/dimens.xml
index c81c22f39e..c43fe754e8 100644
--- a/modules/mogo-module-common/src/main/res/values-xhdpi/dimens.xml
+++ b/modules/mogo-module-common/src/main/res/values-xhdpi/dimens.xml
@@ -1128,6 +1128,10 @@
     <dimen name="module_v2n_tip_text_width">100px</dimen>
     <dimen name="module_v2n_tip_text_margin_right">28px</dimen>
     <dimen name="module_v2n_image_margin_left">28px</dimen>
-
+    <dimen name="module_v2x_brake_tip_width">320px</dimen>
+    <dimen name="module_v2x_brake_tip_height">140px</dimen>
+    <dimen name="module_v2x_brake_image_margin_left">28px</dimen>
+    <dimen name="module_v2x_brake_image_margin_right">20px</dimen>
+    <dimen name="module_v2x_brake_image_width">100px</dimen>
 
 </resources>
diff --git a/modules/mogo-module-extensions/build.gradle b/modules/mogo-module-extensions/build.gradle
index e59c5e48d5..8ee49f5936 100644
--- a/modules/mogo-module-extensions/build.gradle
+++ b/modules/mogo-module-extensions/build.gradle
@@ -59,6 +59,8 @@ dependencies {
         api rootProject.ext.dependencies.mogoserviceapi
         implementation rootProject.ext.dependencies.modulecommon
         implementation rootProject.ext.dependencies.moduleshare
+        implementation rootProject.ext.dependencies.moduleservice
+
 //        implementation rootProject.ext.dependencies.moduleventpanel
 //        implementation rootProject.ext.dependencies.mogomoduleauth
     } else {
@@ -69,6 +71,7 @@ dependencies {
         api project(':services:mogo-service-api')
         implementation project(':modules:mogo-module-common')
         implementation project(':modules:mogo-module-share')
+        implementation project(':modules:mogo-module-service')
 //        implementation project(':modules:mogo-module-event-panel')
 //        implementation project(':modules:mogo-module-authorize')
     }
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
index 69a96ba205..6eb79ddf6a 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -100,6 +100,7 @@ import java.util.Random;
 import static com.mogo.module.common.utils.SPConst.getSPGuideRecord;
 import static com.mogo.module.common.utils.SPConst.getSpGuide;
 import static com.mogo.module.extensions.ExtensionsModuleConst.TYPE_ENTRANCE;
+import static com.mogo.module.service.receiver.MogoReceiver.ACTION_V2X_REMOVE_TIP_WINDOW;
 import static com.mogo.module.share.constant.ShareConstants.KEY_CLICK_SHARE_BUTTON;
 import static com.mogo.module.share.constant.ShareConstants.KEY_CLICK_SHARE_TIME;
 import static com.mogo.module.share.constant.ShareConstants.KEY_SERVER_SHOW_DAY_COUNT;
@@ -110,6 +111,7 @@ import static com.mogo.module.share.constant.ShareConstants.KEY_SHARE_OUTER_GUID
 import static com.mogo.module.share.constant.ShareConstants.ONE_DAY_TIME;
 import static com.mogo.module.share.constant.ShareConstants.SEVEN_DAY_TIME;
 import static com.mogo.module.share.constant.ShareConstants.VOICE_ALERT_COUNT;
+
 /**
  * @author congtaowang
  * @since 2020-01-07
@@ -285,7 +287,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         mExitNavi = findViewById(R.id.module_entrance_id_exit_navi);
         mCameraMode = findViewById(R.id.module_ext_id_north);
         mApis.getIntentManagerApi().registerIntentListener(AUTONAVI_STANDARD_BROADCAST_RECV, this);
-//        mApis.getV2XListenerManager().registerIntentListener(MogoReceiver.ACTION_V2X_REMOVE_TIP_WINDOW, this);
         MogoEntranceButtons.save(ButtonIndex.BUTTON1, findViewById(R.id.module_entrance_id_button1));
         MogoEntranceButtons.save(ButtonIndex.BUTTON2, findViewById(R.id.module_entrance_id_button2));
         mDisplayOverviewBounds = new Rect(
@@ -379,10 +380,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         mSwitchMapModeImage = (ImageView) findViewById(R.id.module_switch_model_icon);
         mSwitchMapModeLayout.setOnClickListener(clickListener);
         mSwitchText = (TextView) findViewById(R.id.module_switch_model_text);
-
-        if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
-            enterVrMode();
-        }
     }
 
     private int debugPanelClickCount = 0;
@@ -392,7 +389,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
     private Group groupFix;
 
     private void enterVrMode() {
-        if (!localIsVrMode) {
             tvEnterVrMode.setVisibility(View.GONE);
             mMove2CurrentLocation.setVisibility(View.GONE);
             mUploadRoadCondition.setVisibility(View.GONE);
@@ -410,25 +406,13 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
             MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
                     .registerCarLocationChangedListener(TAG, this);
 
-//            MogoApisHandler.getInstance().getApis().getRegisterCenterApi().registerMogoLocationListener(TAG, this);
-
             localIsVrMode = true;
             flSpeed.setVisibility(View.VISIBLE);
             mSwitchMapModeLayout.setVisibility(View.VISIBLE);
-
-            try {
-                //清除2D模式下道路事件弹框
-//                MarkerServiceHandler.getApis().getV2XListenerManager().changeTipWindowStatusForListener(MogoReceiver.ACTION_V2X_REMOVE_TIP_WINDOW);
-
-            } catch (Exception e) {
-                e.printStackTrace();
-            }
-
-        }
+            mApis.getV2XListenerManager().changeTipWindowStatusForListener(ACTION_V2X_REMOVE_TIP_WINDOW);
     }
 
     private void exitVrMode() {
-        if (localIsVrMode) {
             EntranceViewHolder.getInstance().forceHideNoticeView();
             tvEnterVrMode.setVisibility(View.VISIBLE);
             mMove2CurrentLocation.setVisibility(View.VISIBLE);
@@ -452,7 +436,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
             flSpeed.setVisibility(View.GONE);
             mSwitchMapModeLayout.setVisibility(View.GONE);
             clTrafficLight.setVisibility(View.GONE);
-        }
     }
 
     private void debugCrashWarn() {
@@ -731,29 +714,21 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         TopViewAnimHelper.getInstance().setIMogoMapUIController(mMApUIController);
         TopViewNoLinkageAnimHelper.getInstance().setIMogoMapUIController(mMApUIController);
 
-        // 进入vr模式，不可缩放地图
-        if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
-            UiThreadHandler.postDelayed(this::stepIntoVrMode, 3_500L);
-        }
-
         mClickShareVoiceStrings =
                 getContext().getResources().getStringArray(R.array.click_share_voice_guide_array);
         mInnerGuideVoiceStrings =
                 getContext().getResources().getStringArray(R.array.search_voice_guide_inner_array);
         mOuterGuideVoiceStrings =
                 getContext().getResources().getStringArray(R.array.search_voice_guide_outer_array);
-    }
 
-    /**
-     * 进入鹰眼模式，设置手势缩放地图失效
-     */
-    private void stepIntoVrMode() {
-        Logger.d(TAG, "进入vr模式");
-        MogoApisHandler.getInstance()
-                .getApis()
-                .getMapServiceApi()
-                .getMapUIController()
-                .openVrMode(false);
+        //TODO 因为衡阳6.30交付没有2D模式，临时方案，进入vr模式，不可缩放地图
+        if (DebugConfig.getCarMachineType() == DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
+            // 进入鹰眼模式，设置手势缩放地图失效
+            Logger.d(TAG, "进入vr模式");
+            mMApUIController.changeMapMode(EnumMapUI.Type_VR);
+            MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, true );
+        }
+
     }
 
     @Override
@@ -926,7 +901,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
             }
         } else if (descriptor == StatusDescriptor.VR_MODE) {
             try {
-                Log.d("liyz", "vr isTrue = " + isTrue);
                 if (isTrue) {
                     enterVrMode();
                 } else {
@@ -1114,32 +1088,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
 
     @Override
     public void onMapModeChanged(EnumMapUI ui) {
-        Log.d("liyz", "fragment onMapModeChanged -----> ");
-//        if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO ) {
-//            if ( ui == EnumMapUI.Type_VR ) {
-//                Log.d("liyz", "onMapModeChanged mLastStatusIsVr = " + mLastStatusIsVr + "--ui = " +ui);
-//                if ( !mLastStatusIsVr ) {
-//                    MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, true );
-//                    MapCenterPointStrategy.resetByChangeMode();
-////                MapMarkerManager.getInstance().redrawMarkerByStyleChanged();
-//                    if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO ) {
-//                        AIAssist.getInstance( getContext() ).speakTTSVoice( "已开启鹰眼模式" );
-//                    }
-//                    mLastStatusIsVr = true;
-//                }
-//            } else {
-//                if ( mLastStatusIsVr ) {
-//                    mLastStatusIsVr = false;
-//                    MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, false );
-//                    MapCenterPointStrategy.resetByChangeMode();
-////                MapMarkerManager.getInstance().redrawMarkerByStyleChanged();
-//                    if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO ) {
-//                        AIAssist.getInstance( getContext() ).speakTTSVoice( "已退出鹰眼模式" );
-//                    }
-//                }
-//            }
-//        }
-
         if (mCameraMode == null) {
             return;
         }
@@ -1368,7 +1316,6 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
                 }
             } else if (v.getId() == R.id.module_ext_enter_vr_mode) {
                 // 进入vr模式
-                Log.d("liyz", "enter --vr--");
                 mMApUIController.changeMapMode(EnumMapUI.Type_VR);
             } else if (v.getId() == R.id.module_ext_exit_vr_mode) {
                 // 退出vr模式
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 5456d236a3..0c83ef1c77 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
@@ -65,7 +65,7 @@
         android:id="@+id/warning_bottom"
         android:layout_width="match_parent"
         android:layout_height="@dimen/dp_390"
-        android:layout_marginTop="@dimen/dp_690"
+        android:layout_gravity="bottom"
         android:background="@drawable/module_main_warning_bkg_bottom"
         android:visibility="gone" />
 
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
index d9e2d98bf4..7bb5d1e5a4 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/MogoServices.java
@@ -437,7 +437,9 @@ public class MogoServices implements IMogoMapListener,
 //                            isNeedUploadCoordinatesDurationInTime() ) {  //todo 实时在线车辆需要注释，否则在2D模式下不能展示
 //                    }
                     //请求在线车辆数据，刷新地图在线车辆
-                    MapMarkerManager.getInstance().getOnlineCarDataByAutoRefreshStrategy( ro.mLonLat );
+                    if (!mLastStatusIsVr){
+                        MapMarkerManager.getInstance().getOnlineCarDataByAutoRefreshStrategy( ro.mLonLat );
+                    }
 
                     Logger.i( TAG, "刷新半径 = %s, 点 = %s, zoomLevel = %s, amount = %s", ro.mRadius, ro.mLonLat, mLastZoomLevel, ro.mAmount );
                 }
@@ -938,9 +940,9 @@ public class MogoServices implements IMogoMapListener,
 
     @Override
     public void onMapModeChanged( EnumMapUI ui ) {
-        Log.d("liyz", "onMapModeChanged ----> ui = " + ui);
+        Log.i(TAG, "onMapModeChanged:" + ui);
+        clearAllData();
         if ( ui == EnumMapUI.Type_VR ) {
-            Log.d("liyz", "onMapModeChanged mLastStatusIsVr = " + mLastStatusIsVr + "--ui = " +ui);
             if ( !mLastStatusIsVr ) {
                 MogoApisHandler.getInstance().getApis().getStatusManagerApi().setVrMode( TAG, true );
                 MapCenterPointStrategy.resetByChangeMode();
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java
index fb0a9eeede..c8f89e29dc 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/StatusChangedAdapter.java
@@ -8,7 +8,6 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.service.launchercard.LauncherCardRefresher;
 import com.mogo.module.service.marker.MapMarkerManager;
 import com.mogo.module.service.strategy.CarIconDisplayStrategy;
-import com.mogo.module.service.vrmode.VrModeController;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 import com.mogo.utils.UiThreadHandler;
@@ -90,7 +89,6 @@ abstract class StatusChangedAdapter implements IMogoStatusChangedListener {
             MogoServices.getInstance().unregisterInternalUnWakeupWords();
             MogoServices.getInstance().stopAutoRefreshStrategy();
         }
-        VrModeController.getInstance().onMainPageResumeStatusChanged(resume);
     }
 
     public void onMainPageIsBackgroundStatusChanged(boolean isBackground) {
@@ -163,7 +161,6 @@ abstract class StatusChangedAdapter implements IMogoStatusChangedListener {
     }
 
     public void onVrModeChanged(boolean isVrMode) {
-        VrModeController.getInstance().onVrModeChanged(isVrMode);
         if (MarkerServiceHandler.getMogoStatusManager().isSeekHelping()) {
             onSeekHelpingStatusChanged(true);
         }
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
index fd4cd234d2..02d412edb5 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/intent/MockIntentHandler.java
@@ -77,9 +77,11 @@ public class MockIntentHandler implements IntentHandler {
         final int oper = intent.getIntExtra("oper", -1);
         switch (oper) {
             case 1:
+                // 展示自车位置
                 MarkerServiceHandler.getMapUIController().showMyLocation(intent.getBooleanExtra("status", true));
                 break;
             case 2:
+                // 发起求助
                 boolean status = intent.getBooleanExtra("status", false);
                 MarkerServiceHandler.getMogoStatusManager().setSeekHelping(TAG, status);
                 break;
@@ -403,7 +405,6 @@ public class MockIntentHandler implements IntentHandler {
                         .syncLocation2Map(null);
                 break;
             case 40:
-
                 double[][] coors = new double[][]{{40.17511749267578, 116.74359130859375},
                         {40.20258331298828, 116.74071502685547},
                         {40.202598571777344, 116.74067687988281},
@@ -444,7 +445,6 @@ public class MockIntentHandler implements IntentHandler {
                         {40.20254135131836, 116.74005889892578},
                         {40.20252990722656, 116.74007415771484},
                         {40.20254898071289, 116.74008178710938},
-
                         {40.20254135131836, 116.74005889892578},
                         {40.20252227783203, 116.74006652832031},
                         {40.20254898071289, 116.74002838134766},
@@ -542,12 +542,8 @@ public class MockIntentHandler implements IntentHandler {
                         .getMapUIController()
                         .openVrMode(false);
                 break;
-            case 46:// 模拟 自车周边数据
-//                String json = "{\"allList\":[{\"type\":3,\"uuid\":\"10009-5152\",\"lat\":40.1990809296,\"lon\":116.7393252195,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0},{\"type\":3,\"uuid\":\"10009-5161\",\"lat\":40.1990827227,\"lon\":116.739325826,\"speed\":0.0,\"heading\":0.0,\"systemTime\":1614329151909,\"vehicleType\":0,\"distance\":576.0,\"fromType\":3,\"isOnline\":0}],\"nearList\":[],\"time\":1614329152238}";
-//                SnapshotSetDataDrawer.getInstance().renderSnapshotData(GsonUtil.objectFromJson(json, MogoSnapshotSetData.class)); //todo 需要重新模拟一个test数据
-                break;
-            case 47:// 模拟鹰眼模式下绘制车辆周边的数据
-                mTimeTickHandler.sendEmptyMessageDelayed(1, 0L);
+            case 46:// 模拟鹰眼模式下绘制车辆周边的数据
+//                mTimeTickHandler.sendEmptyMessageDelayed(1, 0L);
                 break;
             case 48:// 模拟3D模型绘制
                 MogoMarkerOptions options = new MogoMarkerOptions()
@@ -603,8 +599,8 @@ public class MockIntentHandler implements IntentHandler {
                 DebugConfig.setSelfCarSpeedYOffset(intent.getIntExtra("yOffset", 20));
                 break;
             case 51:// 模拟路口车辆移动
-                mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
-                mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
+//                mLocationMockHandler.sendEmptyMessageDelayed(100, 0L);
+//                mLocationMockHandler.sendEmptyMessageDelayed(101, 1000L);
                 break;
             case 52:
                 // 打开连调工控机、ADAS的控制面板
@@ -616,7 +612,7 @@ public class MockIntentHandler implements IntentHandler {
                 DebugConfig.setUseAdasRecognize(isUseAdasRecognize);
                 break;
             case 54:
-                mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
+//                mTimeTickCarHandler.sendEmptyMessageDelayed(1, 0L);
                 break;
             case 55:
                 //开启模拟数据Mock，用于验证算法准确性
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
index 487f8bf46c..11a23d8898 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/marker/MapMarkerManager.java
@@ -148,7 +148,7 @@ public class MapMarkerManager implements IMogoMarkerClickListener,
             @Override
             public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
                 DebugConfig.setStatus(DebugConfig.sDownloadSnapshot, true);
-//                SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData);  //todo 6月4号 提测版本中去掉云端下发数据展示
+                SnapshotSetDataDrawer.getInstance().renderSnapshotData(mogoSnapshotSetData);
 //                Message msg = mSnapshotHandler.obtainMessage();
 //                msg.obj = mogoSnapshotSetData;
 //                msg.what = MSG_SNAPSHOT;
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/CarIconDisplayStrategy.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/CarIconDisplayStrategy.java
index 5f0f07f942..b181e95105 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/CarIconDisplayStrategy.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/strategy/CarIconDisplayStrategy.java
@@ -236,6 +236,7 @@ public class CarIconDisplayStrategy {
                             .icons(mBitmapFrames)
                             .period(20)
                             .zIndex(0)
+                            .scale(MarkerServiceHandler.getMogoStatusManager().isVrMode() ? 0.4f : 1.0f)
                             .autoManager(false)
                             .anchor(0.5f, 0.5f)
                             .position(MarkerServiceHandler.getMapService().getNavi(AbsMogoApplication.getApp()).getCarLocation2()));
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/timedelay/TimeDelayUploadManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/timedelay/TimeDelayUploadManager.java
index efe673a32d..6ac3dcf467 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/timedelay/TimeDelayUploadManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/timedelay/TimeDelayUploadManager.java
@@ -146,6 +146,7 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
     @Override
     public void onMsgReceived(SocketDownData.LauncherSnapshotProto mogoSnapshotSetData) {
         if (isMockData) {
+            Logger.d(TAG,"收到下发数据 mogoSnapshotSetData : " + mogoSnapshotSetData.toString());
             //接口数据上报
             SocketDownData.CloudRoadDataProto result = mogoSnapshotSetData.getAllListList()
                     .stream()
@@ -156,6 +157,7 @@ public class TimeDelayUploadManager implements IMogoOnMessageListener<MockSocket
                 Logger.d(TAG, "未找到与之匹配数据");
                 return;
             }
+            Logger.d(TAG,"找到匹配数据 result : " + result.toString());
             long satelliteTime;
             if (TextUtils.isEmpty(adasControllerApi.getSatelliteTime())) {
                 satelliteTime = System.currentTimeMillis();
diff --git a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
index 6d0bdb7db5..0141fd5a96 100644
--- a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
+++ b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
@@ -2,8 +2,8 @@ package com.mogo.module.small.map;
 
 import android.content.Context;
 import android.graphics.BitmapFactory;
+import android.location.Location;
 import android.util.AttributeSet;
-import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
 import android.widget.RelativeLayout;
@@ -14,15 +14,18 @@ import com.amap.api.maps.AMap;
 import com.amap.api.maps.CameraUpdate;
 import com.amap.api.maps.CameraUpdateFactory;
 import com.amap.api.maps.UiSettings;
+import com.amap.api.maps.model.CustomMapStyleOptions;
+import com.amap.api.navi.AMapNavi;
 import com.amap.api.navi.AMapNaviView;
 import com.amap.api.navi.AMapNaviViewOptions;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
+import com.mogo.map.MogoLatLng;
+import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.view.RoundLayout;
-import com.mogo.utils.FileUtils;
-
-import java.io.IOException;
+import com.mogo.module.small.map.utils.MapAssetStyleUtils;
+import com.mogo.utils.logger.Logger;
 
 /**
  * 小地图的方向View
@@ -30,13 +33,17 @@ import java.io.IOException;
  * @author donghongyu
  * @date 12/14/20 4:40 PM
  */
-public class SmallMapDirectionView extends RelativeLayout {
-    private String styleFilePath = "/mnt/sdcard/amap/small_map_style.data";
+public class SmallMapDirectionView extends RelativeLayout implements IMogoCarLocationChangedListener2 {
+    /**
+     * 小地图名称
+     */
+    public static final String MODULE_NAME = "SmallMap";
 
     private RoundLayout rlSmallMapBorder;
     private AMapNaviView mAMapNaviView;
+    private AMap mAMap;
+    private AMapNavi mAMapNavi;
     private int zoomLevel = 15;
-    private boolean mapIsLoaded = false;
 
     public SmallMapDirectionView(Context context) {
         this(context, null);
@@ -62,15 +69,63 @@ public class SmallMapDirectionView extends RelativeLayout {
         rlSmallMapBorder = findViewById(R.id.rlSmallMapBorder);
         rlSmallMapBorder.addView(mAMapNaviView);
 
+        initAMapView();
+
+        // 注册定位监听
+        SmpServiceManager.getMogoRegisterCenter()
+                .registerCarLocationChangedListener(MODULE_NAME, this);
+
+        setOnClickListener(view -> {
+            if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
+                MogoApisHandler.getInstance().getApis()
+                        .getMapServiceApi()
+                        .getMapUIController()
+                        .changeMapMode(
+                                MogoApisHandler.getInstance()
+                                        .getApis()
+                                        .getAdasControllerApi()
+                                        .getCurrentSkinMode()
+                        );
+            }
+        });
+    }
+
+    private void initAMapView() {
         // 车头朝上
         mAMapNaviView.setNaviMode(AMapNaviView.CAR_UP_MODE);
         // 设置电子眼所在路线的可见性
         mAMapNaviView.setRouteOverlayVisible(false);
-        AMap aMap = mAMapNaviView.getMap();
+        mAMap = mAMapNaviView.getMap();
         // 关闭地图文字标注
-        aMap.showMapText(false);
+        mAMap.showMapText(false);
+        // 设置导航地图模式，aMap是地图控制器对象。
+        mAMap.setMapType(AMap.MAP_TYPE_NIGHT);
+        // 关闭显示实时路况图层，aMap是地图控制器对象。
+        mAMap.setTrafficEnabled(false);
+
+        mAMapNavi = AMapNavi.getInstance(getContext());
+        mAMapNavi.setIsUseExtraGPSData(false);
+
+        new Thread(() -> {
+            try {
+                Thread.sleep(1000L);
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+            mAMap.setCustomMapStyle(
+                    new CustomMapStyleOptions()
+                            .setEnable(true)
+                            .setStyleData(MapAssetStyleUtils.getAssetsStyle(getContext()))
+                            .setStyleExtraData(MapAssetStyleUtils.getAssetsExtraStyle(getContext()))
+            );
+
+            //设置希望展示的地图缩放级别
+            CameraUpdate cameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
+            mAMap.moveCamera(cameraUpdate);
+        }).start();
+
         // 设置地图的样式
-        UiSettings uiSettings = aMap.getUiSettings();
+        UiSettings uiSettings = mAMap.getUiSettings();
         uiSettings.setZoomControlsEnabled(false);// 地图缩放级别的交换按钮
         uiSettings.setAllGesturesEnabled(false);// 所有手势
         uiSettings.setMyLocationButtonEnabled(false); // 显示默认的定位按钮
@@ -137,95 +192,9 @@ public class SmallMapDirectionView extends RelativeLayout {
             // 2D模式
             options.setTilt(0);
             // 黑夜模式
-            //options.setNaviNight(true);
-            // 自定义地图样式
-            options.setCustomMapStylePath(styleFilePath);
+            options.setNaviNight(true);
             mAMapNaviView.setViewOptions(options);
         }
-
-        //设置希望展示的地图缩放级别
-        CameraUpdate cameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-        aMap.moveCamera(cameraUpdate);
-
-        try {
-            // 判断是否有样式文件存在
-            FileUtils.copy(
-                    context.getAssets().open("small_map_style.data"),
-                    styleFilePath,
-                    new FileUtils.FileCopyListener() {
-
-                        @Override
-                        public void onStart() {
-                            Log.w("FileCopyListener", "onStart=");
-
-                        }
-
-                        @Override
-                        public void onFail(Exception e) {
-                            Log.w("FileCopyListener", "onFail=");
-                            e.printStackTrace();
-                        }
-
-                        @Override
-                        public void onProcess(int process) {
-                            Log.w("FileCopyListener", "onProcess=" + process);
-
-                        }
-
-                        @Override
-                        public void onFinish(String toPath) {
-                            Log.w("FileCopyListener", "onFinish toPath=" + toPath);
-
-                            // 高德地图有bug，所以需要多次调用设置皮肤才能成功
-                            if (options != null) {
-                                options.setCustomMapStylePath(styleFilePath);
-                                mAMapNaviView.setViewOptions(options);
-                            }
-
-                            //设置希望展示的地图缩放级别
-                            CameraUpdate cameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-                            aMap.moveCamera(cameraUpdate);
-                        }
-                    }
-            );
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
-
-        new Thread(new Runnable() {
-            @Override
-            public void run() {
-                try {
-                    Thread.sleep(1000L);
-                } catch (InterruptedException e) {
-                    e.printStackTrace();
-                }
-                // 高德地图有bug，所以需要多次调用设置皮肤才能成功
-                if (options != null) {
-                    options.setCustomMapStylePath(styleFilePath);
-                    mAMapNaviView.setViewOptions(options);
-                }
-
-                //设置希望展示的地图缩放级别
-                CameraUpdate cameraUpdate = CameraUpdateFactory.zoomTo(zoomLevel);
-                aMap.moveCamera(cameraUpdate);
-            }
-        }).start();
-
-
-        setOnClickListener(view -> {
-            if (DebugConfig.getCarMachineType() != DebugConfig.CAR_MACHINE_TYPE_LENOVO) {
-                MogoApisHandler.getInstance().getApis()
-                        .getMapServiceApi()
-                        .getMapUIController()
-                        .changeMapMode(
-                                MogoApisHandler.getInstance()
-                                        .getApis()
-                                        .getAdasControllerApi()
-                                        .getCurrentSkinMode()
-                        );
-            }
-        });
     }
 
 
@@ -233,4 +202,17 @@ public class SmallMapDirectionView extends RelativeLayout {
     public boolean onInterceptTouchEvent(MotionEvent ev) {
         return true;
     }
+
+    @Override
+    public void onCarLocationChanged2(Location latLng) {
+        Logger.d(MODULE_NAME, "onCarLocationChanged2 latLng:" + latLng);
+        if (mAMapNavi != null) {
+            mAMapNavi.setExtraGPSData(2, latLng);
+        }
+    }
+
+    @Override
+    public void onCarLocationChanged(MogoLatLng latLng) {
+        Logger.d(MODULE_NAME, "onCarLocationChanged latLng:" + latLng);
+    }
 }
diff --git a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmpServiceManager.java b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmpServiceManager.java
new file mode 100644
index 0000000000..75e01881ca
--- /dev/null
+++ b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmpServiceManager.java
@@ -0,0 +1,45 @@
+package com.mogo.module.small.map;
+
+import android.content.Context;
+
+import com.alibaba.android.arouter.launcher.ARouter;
+import com.mogo.service.IMogoServiceApis;
+import com.mogo.service.MogoServicePaths;
+import com.mogo.service.module.IMogoRegisterCenter;
+
+/**
+ * author : donghongyu
+ * e-mail : 1358506549@qq.com
+ * date   : 2020-01-2114:01
+ * desc   : V2X 服务
+ * version: 1.0
+ */
+public class SmpServiceManager {
+    private static final String TAG = "V2XServiceManager";
+    private static boolean isInit;
+    private static Context mContext;
+    private static IMogoServiceApis mMogoServiceApis;
+    private static IMogoRegisterCenter mMogoRegisterCenter;
+
+    private SmpServiceManager() {
+
+    }
+
+    public static void init(final Context context) {
+        if (!isInit) {
+            isInit = true;
+            mContext = context;
+            mMogoServiceApis = (IMogoServiceApis) ARouter.getInstance().build(MogoServicePaths.PATH_SERVICE_APIS).navigation(context);
+            mMogoRegisterCenter = mMogoServiceApis.getRegisterCenterApi();
+        }
+    }
+
+    public static Context getContext() {
+        return mContext;
+    }
+
+    public static IMogoRegisterCenter getMogoRegisterCenter() {
+        return mMogoRegisterCenter;
+    }
+
+}
diff --git a/modules/mogo-module-v2x/build.gradle b/modules/mogo-module-v2x/build.gradle
index b84e556603..a299f8db01 100644
--- a/modules/mogo-module-v2x/build.gradle
+++ b/modules/mogo-module-v2x/build.gradle
@@ -94,6 +94,9 @@ dependencies {
     androidTestImplementation 'androidx.test.ext:junit:1.1.1'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.2.0'
     implementation project(':modules:mogo-module-obu')
+//    implementation rootProject.ext.dependencies.mebulaobu
+    implementation rootProject.ext.dependencies.mogoobu
+
 }
 
 apply from: new File(rootProject.rootDir, "gradle/upload.gradle").toString()
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
index 548639f6c4..f117c07323 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XObuManager.java
@@ -8,23 +8,29 @@ import android.os.Handler;
 import android.os.Message;
 import android.os.SystemClock;
 import android.util.ArrayMap;
+import android.util.Log;
 
 import androidx.localbroadcastmanager.content.LocalBroadcastManager;
 
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.debug.DebugConfig;
+import com.mogo.commons.voice.AIAssist;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.entity.V2XMessageEntity;
 import com.mogo.module.common.entity.V2XObuEventEntity;
 import com.mogo.module.common.entity.V2XPushMessageEntity;
+import com.mogo.module.service.MarkerServiceHandler;
+import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.module.v2x.listener.V2XLocationListener;
 import com.mogo.module.v2x.scenario.scene.obu.V2XObuEventScenario;
 import com.mogo.module.v2x.utils.ADASUtils;
 import com.mogo.module.v2x.utils.DrivingDirectionUtils;
 import com.mogo.module.v2x.utils.ObuConfig;
 import com.mogo.module.v2x.utils.TestOnLineCarUtils;
+import com.mogo.module.v2x.utils.ToastUtils;
 import com.mogo.service.entrance.IMogoEntranceButtonController;
+import com.mogo.utils.UiThreadHandler;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.mogo.module.obu.ObuConstant;
 import com.zhidao.mogo.module.obu.ObuManager;
@@ -32,10 +38,25 @@ import com.zhidao.mogo.module.obu.obu.IObuCallback;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuLocationInfo;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuTrafficLightInfo;
+//import com.zhidao.support.nebulaobu.NebulaObuClient;
+//import com.zhidao.support.nebulaobu.OnObuListener;
+//import com.zhidao.support.nebulaobu.model.ActiveSafetyInfo;
+//import com.zhidao.support.nebulaobu.model.ObuInfo;
+//import com.zhidao.support.nebulaobu.model.ObuInfoMore;
+
+import com.zhidao.support.obu.MogoObuManager;
+import com.zhidao.support.obu.OnMogoObuListener;
+import com.zhidao.support.obu.model.CvxAppInitIndInfo;
+import com.zhidao.support.obu.model.CvxHvCarIndInfo;
+import com.zhidao.support.obu.model.CvxHvInfoIndInfo;
+import com.zhidao.support.obu.model.CvxRvInfoIndInfo;
+import com.zhidao.support.obu.model.CvxSetConfigCfmInfo;
+import com.zhidao.support.obu.model.CvxV2vThreatIndInfo;
 
 import org.json.JSONArray;
 import org.json.JSONObject;
 
+import java.util.List;
 import java.util.Map;
 
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
@@ -76,14 +97,174 @@ public class V2XObuManager implements IObuCallback, Handler.Callback {
 
     public void init(Context context) {
         Logger.d(MODULE_NAME, "obuManager初始化--");
+        //之前内部对接的obu
         obuManager = new ObuManager();
         obuManager.init(context);
         obuManager.registerObuDataChangedListener(this);
 
+        //使用adas部门obu sdk (星云)
+//        NebulaObuClient.getInstance().init(context);
+//        NebulaObuClient.getInstance().registerObu(100);
+//        NebulaObuClient.getInstance().registerObuListener(listener);
+
+        //自研obu
+        MogoObuManager.getInstance().init(context);
+        MogoObuManager.getInstance().connect();
+        MogoObuManager.getInstance().registerListener(mogoObuListener);
+        MogoObuManager.getInstance().unregisterListener();
+
+//        UiThreadHandler.postDelayed( () -> {
+//            //TODO 测试
+//            MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(3, MogoReceiver.ACTION_V2X_FRONT_WARNING);
+//            handleSdkObu(1);
+//
+//        }, 5_000L );
+
         IntentFilter filter = new IntentFilter("com.mogo.launcher.v2x.action.EXCHANGE_OBU_TYPE");
         context.registerReceiver(obuTypeExchangeReceiver, filter);
     }
 
+    private OnMogoObuListener mogoObuListener = new OnMogoObuListener() {
+        @Override
+        public void onConnected() {
+            //OBU连接成功
+            Logger.d("liyz", "onConnected ------> ");
+        }
+
+        @Override
+        public void onConnectFail(boolean isNeedReconnect) {
+            Logger.d("liyz", "onConnectFail ------> ");
+            //OBU连接失败
+        }
+
+        @Override
+        public void onDisconnect() {
+            Logger.d("liyz", "onDisconnect ------> ");
+            //OBU断开连接
+        }
+
+        @Override
+        public void onReceiveOriginData(String data) {
+            super.onReceiveOriginData(data);
+            Logger.d("liyz", "onReceiveOriginData ------> data = " + data);
+            //接收到的原始数据
+        }
+
+        @Override
+        public void onSendData(byte[] bytes) {
+            super.onSendData(bytes);
+            //发送的数据
+            Logger.d("liyz", "onSendData ------> ");
+        }
+
+        @Override
+        public void onCvxAppInitIndInfo(CvxAppInitIndInfo info) {
+            super.onCvxAppInitIndInfo(info);
+            Logger.d("liyz", "onCvxAppInitIndInfo ------> " + info.toString());
+            //CV2X系统信息
+        }
+
+        @Override
+        public void onCvxSetConfigCfm(CvxSetConfigCfmInfo info) {
+            super.onCvxSetConfigCfm(info);
+            Logger.d("liyz", "onCvxSetConfigCfm ------> " + info.toString());
+            //设置CV2X系统的配置确认
+        }
+
+        @Override
+        public void onCvxHvCarIndInfo(CvxHvCarIndInfo info) {
+            //主车车辆信息
+            Logger.d("liyz", "onCvxHvCarIndInfo ------> " + info.toString());
+        }
+
+        @Override
+        public void onCvxHvInfoIndInfo(CvxHvInfoIndInfo info) {
+            //主车信息
+        }
+
+        @Override
+        public void onCvxRvInfoIndInfo(CvxRvInfoIndInfo info) {
+            //远车信息
+            Logger.d("liyz", "onCvxRvInfoIndInfo ------> " + info.toString());
+        }
+
+        @Override
+        public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) {
+            //预警信息
+            Logger.e("liyz", "onCvxRvInfoIndInfo ------> " + info.toString());
+
+            //预警数据的组装，车辆实时移动和变色。
+            //预警方位
+            //预警类型
+
+        }
+    };
+
+
+//    public void release() {
+//        NebulaObuClient.getInstance().unregisterObu();
+//        NebulaObuClient.getInstance().unregisterObuListener();
+//    }
+
+    /**
+     * 星云obu数据监听
+     */
+//    private OnObuListener listener = new OnObuListener() {
+//        @Override
+//        public void onRegister() {
+//        }
+//
+//        @Override
+//        public void onConnectFail(boolean isNeedReconnect) {
+//            Logger.d("liyz", "onConnectFail ------> ");
+//        }
+//
+//        @Override
+//        public void onUnregister() {
+//        }
+//
+//        @Override
+//        public void onObuInfo(ObuInfo info) {
+//            Logger.d("liyz", "onObuInfo ------> " + info.toString());
+//        }
+//
+//        @Override
+//        public void onWarningInfo(List<ActiveSafetyInfo> infoList) {
+//            if (infoList != null) {
+//                if (infoList.size() > 0) { //一般只有一个
+//                    ActiveSafetyInfo info = infoList.get(0);
+//                    Logger.d("liyz", "onWarningInfo type ------> " + info.getWarningtype() + "--size = " + infoList.size());
+//                    if (info.getWarningtype() == 3) {
+//                        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+//                            handleSdkObu(2);
+//                        }
+//                    }
+//                }
+//            }
+//        }
+//    };
+
+
+    private void handleSdkObu(int type) {
+        V2XMessageEntity<V2XObuEventEntity> messageEntity = new V2XMessageEntity<>();
+        messageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_OBU_EVENT);
+
+        V2XObuEventEntity urgencyEvent = new V2XObuEventEntity();
+        if (type == 1) { //交叉路口碰撞预警 TODO
+            urgencyEvent.setType(ObuConstant.TYPE_CROSS_COLLISION_WARNING);
+            urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_CROING_WARN_TEXT);
+        } else if (type == 2) { // 前车紧急制动预警
+            urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
+            urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
+        } else {
+            urgencyEvent.setType(ObuConstant.TYPE_URGENCY_COLLISION_WARNING);
+            urgencyEvent.setDesc(V2XObuEventScenario.URGENCY_COLLISION_WARN_TEXT);
+        }
+
+        messageEntity.setContent(urgencyEvent);
+        V2XObuEventScenario.getInstance().init(messageEntity);
+    }
+
     /**
      * 用来处理30秒内不重复播报的情况
      */
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/adapter/holder/V2XOtherSeekHelpVH.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/adapter/holder/V2XOtherSeekHelpVH.java
index 509e7d6bad..86cb6e3363 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/adapter/holder/V2XOtherSeekHelpVH.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/adapter/holder/V2XOtherSeekHelpVH.java
@@ -199,14 +199,14 @@ public class V2XOtherSeekHelpVH extends V2XBaseViewHolder<V2XEventShowEntity> {
             if (mV2XPushMessageEntity.getDistance() > 1000) {
                 SpanUtils.with(tvDistance)
                         .append("" + (int) mV2XPushMessageEntity.getDistance() / 1000)
-                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.dp_42 : R.dimen.module_v2x_event_distance_text))
+                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.module_v2x_fault_help_distance_text_size : R.dimen.module_v2x_event_distance_text))
                         .append("公里")
                         .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.dp_42 : R.dimen.module_v2x_event_distance_title))
                         .create();
             } else {
                 SpanUtils.with(tvDistance)
                         .append("" + (int) mV2XPushMessageEntity.getDistance())
-                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.dp_42 : R.dimen.module_v2x_event_distance_text))
+                        .setFontSize((int) itemView.getResources().getDimension(V2XServiceManager.getMoGoStatusManager().isVrMode() ? R.dimen.module_v2x_fault_help_distance_text_size : R.dimen.module_v2x_event_distance_text))
                         .append("米")
                         .setFontSize((int) itemView.getResources().getDimension(
                                 V2XServiceManager.getMoGoStatusManager().isVrMode() ?
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java
index 0ff47b0d6e..13d96a30c5 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/manager/impl/MoGoV2XMarkerManager.java
@@ -2,6 +2,7 @@ package com.mogo.module.v2x.manager.impl;
 
 import android.content.Context;
 import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.AbsMogoApplication;
@@ -39,10 +40,12 @@ import com.mogo.module.v2x.utils.MarkerUtils;
 import com.mogo.utils.ViewUtils;
 import com.mogo.utils.logger.Logger;
 
+import java.util.ArrayList;
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.concurrent.CopyOnWriteArraySet;
 
+import static com.mogo.module.service.strategy.CarIconDisplayStrategy.sFrameVr;
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
 import static com.mogo.module.v2x.V2XConst.V2X_EVENT_ALARM_POI;
 
@@ -61,6 +64,7 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
     private static CopyOnWriteArraySet<V2XRoadEventEntity> mV2XRoadEventEntityArrayList = new CopyOnWriteArraySet<>();
     // 上次的道路事件的预警Marker
     private static IMogoMarker mAlarmInfoMarker;
+    private static IMogoMarker m3DMarker;
 
     @Override
     public void drawableLastAllPOI() {
@@ -270,13 +274,35 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
                     } else {
                         mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
                     }
+                    // 当前Marker设置为最上面
+                    mAlarmInfoMarker.setToTop();
                 } else {
-                    optionsRipple.icons(V2XMarkerAdapter.getV2XRoadEventViewGif(context, roadEventEntity));
-                    optionsRipple.period(100);
-                    mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
+                    if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
+                        ArrayList<Bitmap> mBitmapFrames = new ArrayList<>();
+                        for (int i : sFrameVr) {
+                            mBitmapFrames.add(BitmapFactory.decodeResource(AbsMogoApplication.getApp().getResources(), i));
+                        }
+                        optionsRipple.icons(mBitmapFrames);
+                        optionsRipple.period(20);
+                        optionsRipple.scale(0.4f);
+                        mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
+
+                        MogoMarkerOptions options = new MogoMarkerOptions().object(roadEventEntity)
+                                .latitude(roadEventEntity.getLocation().getLat()).longitude(roadEventEntity.getLocation().getLon());
+                        options.anchor(0.5f, 0.5f);
+                        options.icon3DRes(com.mogo.module.common.R.raw.othercar);
+                        options.anchorColor("#FFBF29FF");
+                        m3DMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, options);
+                        m3DMarker.setToTop();
+                    } else {
+                        optionsRipple.icons(V2XMarkerAdapter.getV2XRoadEventViewGif(context, roadEventEntity));
+                        optionsRipple.period(100);
+                        mAlarmInfoMarker = V2XServiceManager.getMarkerManager().addMarker(V2X_EVENT_ALARM_POI, optionsRipple);
+                        // 当前Marker设置为最上面
+                        mAlarmInfoMarker.setToTop();
+                    }
                 }
-                // 当前Marker设置为最上面
-                mAlarmInfoMarker.setToTop();
+
                 // 绘制连接线
                 V2XServiceManager.getMoGoV2XPolylineManager().drawablePolyline(context, roadEventEntity);
                 // 缩放地图
@@ -302,6 +328,9 @@ public class MoGoV2XMarkerManager implements IMoGoV2XMarkerManager {
             if (mAlarmInfoMarker != null) {
                 mAlarmInfoMarker.remove();
             }
+            if (m3DMarker != null) {
+                m3DMarker.remove();
+            }
         }
     }
 
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerAdapter.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerAdapter.java
index 7647f6b026..5b0d412d46 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerAdapter.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerAdapter.java
@@ -8,6 +8,7 @@ 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.v2x.R;
+import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.utils.ImageUtil;
 import com.mogo.module.v2x.utils.V2XUtils;
 
@@ -131,44 +132,44 @@ public class V2XMarkerAdapter {
      */
     public static ArrayList<Bitmap> getV2XRoadEventOrangeMarkerView(Context context, V2XRoadEventEntity alarmInfo) {
         ArrayList<Bitmap> icons = new ArrayList<>();
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00011));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00012));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00013));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00014));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00015));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00016));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00017));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00018));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00019));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00020));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00021));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00022));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00023));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00024));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00025));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00026));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00027));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00028));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00029));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00030));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00031));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00032));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00033));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00034));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00035));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00036));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00037));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00038));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00039));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00040));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00041));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00042));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00043));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00044));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00045));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00046));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00047));
-        icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00048));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00011));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00012));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00013));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00014));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00015));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00016));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00017));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00018));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00019));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00020));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00021));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00022));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00023));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00024));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00025));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00026));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00027));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00028));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00029));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00030));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00031));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00032));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00033));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00034));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00035));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00036));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00037));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00038));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00039));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00040));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00041));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00042));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00043));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00044));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00045));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00046));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00047));
+            icons.add(V2XMarkerAdapter.getV2XRoadEventMarkerView(context, alarmInfo, R.drawable.v_to_x_warning_circle_orange_00048));
         return icons;
     }
 
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerRoadEventView.kt b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerRoadEventView.kt
index 1e3ac99c1f..fa563f3fb4 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerRoadEventView.kt
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/marker/V2XMarkerRoadEventView.kt
@@ -10,6 +10,7 @@ import com.mogo.module.common.entity.MarkerExploreWay
 import com.mogo.module.common.entity.V2XPoiTypeEnum
 import com.mogo.module.common.entity.V2XRoadEventEntity
 import com.mogo.module.v2x.R
+import com.mogo.module.v2x.V2XServiceManager
 import com.mogo.utils.ViewUtils
 import kotlinx.android.synthetic.main.view_marker_event_car.view.*
 
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/AbsV2XScenario.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/AbsV2XScenario.java
index 0bd5932fdf..921254d6b3 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/AbsV2XScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/impl/AbsV2XScenario.java
@@ -1,13 +1,16 @@
 package com.mogo.module.v2x.scenario.impl;
 
 import android.text.TextUtils;
+import android.util.Log;
 
 import androidx.annotation.Nullable;
 
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.commons.voice.IMogoVoiceCmdCallBack;
 import com.mogo.commons.voice.VoicePreemptType;
+import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.entity.V2XMessageEntity;
+import com.mogo.module.service.receiver.MogoReceiver;
 import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.v2x.scenario.IV2XScenario;
 import com.mogo.module.v2x.scenario.view.IV2XButton;
@@ -24,7 +27,7 @@ import com.mogo.utils.logger.Logger;
  * desc   :
  * version: 1.0
  */
-public abstract class AbsV2XScenario<T> implements IV2XScenario, IV2XWindowManagerListener {
+public abstract class AbsV2XScenario<T> implements IV2XScenario {
     protected String TAG = "AbsV2XScenario";
     private IV2XWindow mV2XWindow;
     private IV2XButton mV2XButton;
@@ -56,7 +59,7 @@ public abstract class AbsV2XScenario<T> implements IV2XScenario, IV2XWindowManag
     @Override
     public void speakTTSVoice(@Nullable String msg, IMogoVoiceCmdCallBack callBack) {
         if (!TextUtils.isEmpty(msg)) {
-            Logger.d(V2XConst.MODULE_NAME, "调用TTS播放语音：" + msg);
+            Logger.d(TAG, "调用TTS播放语音：" + msg);
             AIAssist.getInstance(V2XUtils.getApp()).speakTTSVoice(msg, VoicePreemptType.PREEMPT_TYPE_IMMEADIATELY, callBack);
         }
     }
@@ -101,8 +104,4 @@ public abstract class AbsV2XScenario<T> implements IV2XScenario, IV2XWindowManag
         return mV2XMessageEntity.equals(v2XMessageEntity);
     }
 
-    @Override
-    public void removeAllTipWindow() {
-        close();
-    }
 }
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 094bd071a4..534fd66f54 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
@@ -111,11 +111,11 @@ public class V2XScenarioManager implements IV2XScenarioManager {
                                 mV2XScenario = new V2XOptimalRouteVREventScenario();
                                 break;
                             case V2XMessageEntity.V2XTypeEnum.ALERT_THE_FRONT_WEAKNESS:
-//                                mV2XScenario = new V2XFrontWarningScenario();
-//                                if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
-//                                } else {
-//                                    mV2XScenario = null;
-//                                }
+                                if (V2XServiceManager.getMoGoStatusManager().isVrMode()) {
+                                    mV2XScenario = new V2XFrontWarningScenario();
+                                } else {
+                                    mV2XScenario = null;
+                                }
                                 break;
                             default:
                                 mV2XScenario = null;
@@ -146,7 +146,7 @@ public class V2XScenarioManager implements IV2XScenarioManager {
     private void sceneChange() {
         if (MogoApisHandler.getInstance().getApis().getMapServiceApi().getMapUIController().
                 getCurrentMapVisualAngle() != VisualAngleMode.MODE_MEDIUM_SIGHT) {
-            V2XServiceManager.getMapService().getMapUIController().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT,null);
+            V2XServiceManager.getMapService().getMapUIController().changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
         }
     }
 
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/V2XBasWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/V2XBasWindow.java
index 97929a0d71..b79a0d9480 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/V2XBasWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/V2XBasWindow.java
@@ -2,15 +2,20 @@ package com.mogo.module.v2x.scenario.scene;
 
 import android.content.Context;
 import android.util.AttributeSet;
+import android.util.Log;
 import android.widget.RelativeLayout;
 
+import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.service.receiver.MogoReceiver;
+import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.service.v2x.IV2XWindowManagerListener;
 import com.mogo.utils.logger.Logger;
 
 /**
  * @author donghongyu
  * @date 12/11/20 10:35 AM
  */
-public class V2XBasWindow extends RelativeLayout {
+public class V2XBasWindow extends RelativeLayout implements IV2XWindowManagerListener {
     private final String TAG = "V2XBasWindow";
 
     public V2XBasWindow(Context context) {
@@ -28,6 +33,7 @@ public class V2XBasWindow extends RelativeLayout {
     @Override
     protected void onAttachedToWindow() {
         super.onAttachedToWindow();
+        MogoApisHandler.getInstance().getApis().getV2XListenerManager().registerIntentListener(MogoReceiver.ACTION_V2X_FRONT_WARNING, this);
         Logger.w(TAG, "onAttachedToWindow……");
     }
 
@@ -44,4 +50,13 @@ public class V2XBasWindow extends RelativeLayout {
     protected void release() {
         Logger.w(TAG, "release……");
     }
+
+    @Override
+    public void removeTipWindowByListener() {
+        Log.d(TAG, "removeAllTipWindow");
+        V2XServiceManager
+                .getMogoTopViewManager()
+                .removeView(this);
+
+    }
 }
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java
index 73e9af43d4..596734eb33 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventScenario.java
@@ -5,6 +5,7 @@ import android.graphics.Color;
 import android.os.Handler;
 import android.os.Looper;
 import android.os.Message;
+import android.util.Log;
 
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
@@ -20,6 +21,7 @@ import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.listener.V2XWindowStatusListener;
 import com.mogo.module.v2x.scenario.impl.AbsV2XScenario;
 import com.mogo.module.v2x.utils.DrivingDirectionUtils;
+import com.mogo.module.v2x.utils.ToastUtils;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.mogo.module.obu.ObuConstant;
 import com.zhidao.mogo.module.obu.obu.bean.MogoObuEventInfo;
@@ -40,7 +42,10 @@ import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
  */
 public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> implements Handler.Callback {
 
-    public static final String URGENCY_COLLISION_WARN_TEXT = "前车急刹，注意保持安全距离！";
+    public static final String URGENCY_COLLISION_WARN_TEXT_ONE = "前车急刹，注意保持安全距离！";
+    public static final String URGENCY_COLLISION_WARN_TEXT = "前车急刹";
+    public static final String URGENCY_CROING_WARN_TEXT = "注意交叉路口车辆";
+
     private static final int MSG_CLOSE_OBU_WINDOW = 1001;
     private static final int DEFAULT_EXPIRE_TIME = 20_000;
 
@@ -107,7 +112,12 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple
             } else {
                 optimalSpeedMarker.clearPOI();
             }
+        } else if (v2XMessageEntity.getContent().getType() == ObuConstant.TYPE_CROSS_COLLISION_WARNING) {
+            AIAssist.getInstance(V2XServiceManager.getContext()).speakTTSVoice(URGENCY_CROING_WARN_TEXT);
+        } else if (v2XMessageEntity.getContent().getType() == ObuConstant.TYPE_URGENCY_COLLISION_WARNING) {
+            AIAssist.getInstance(V2XServiceManager.getContext()).speakTTSVoice(URGENCY_COLLISION_WARN_TEXT_ONE);
         }
+
         show();
     }
 
@@ -118,7 +128,7 @@ public class V2XObuEventScenario extends AbsV2XScenario<V2XObuEventEntity> imple
      */
     @Override
     public void show() {
-        AIAssist.getInstance(V2XServiceManager.getContext()).speakTTSVoice(getV2XMessageEntity().getContent().getDesc());
+//        AIAssist.getInstance(V2XServiceManager.getContext()).speakTTSVoice(URGENCY_COLLISION_WARN_TEXT_ONE);
         showWindow();
         if (handler.hasMessages(MSG_CLOSE_OBU_WINDOW)) {
             handler.removeMessages(MSG_CLOSE_OBU_WINDOW);
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventWindow.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventWindow.java
index 5b686a320c..fc5bbfb829 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventWindow.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/obu/V2XObuEventWindow.java
@@ -17,6 +17,7 @@ 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.view.IV2XWindow;
+import com.mogo.module.v2x.utils.ToastUtils;
 import com.mogo.service.windowview.IMogoTopViewStatusListener;
 import com.mogo.utils.logger.Logger;
 import com.zhidao.mogo.module.obu.ObuConstant;
@@ -47,7 +48,7 @@ public class V2XObuEventWindow extends FrameLayout implements IV2XWindow<V2XObuE
 
     private void initView(Context context){
         Logger.d(MODULE_NAME,"初始化obu场景view");
-        LayoutInflater.from(context).inflate(R.layout.window_simple_obu_event_detail, this);
+        LayoutInflater.from(context).inflate(R.layout.window_simple_obu_event_detail_vr, this);
         ivTypeIcon = findViewById(R.id.ivObuTypeIcon);
         tvType = findViewById(R.id.tvObuType);
         tvDesc = findViewById(R.id.tvObuDesc);
@@ -65,6 +66,7 @@ public class V2XObuEventWindow extends FrameLayout implements IV2XWindow<V2XObuE
     @Override
     public void show(V2XObuEventEntity entity) {
         Logger.d(MODULE_NAME, "ObuEventWindow show " + entity);
+        Logger.d("liyz", "ObuEventWindow show " + entity);
         switch (entity.getType()) {
             case ObuConstant
                     .TYPE_OPTIMAL_SPEED_ADVISORY:
@@ -75,12 +77,19 @@ public class V2XObuEventWindow extends FrameLayout implements IV2XWindow<V2XObuE
                 tvType.setBackgroundResource(R.drawable.bg_v2x_event_type_green);
                 break;
             case ObuConstant.TYPE_URGENCY_COLLISION_WARNING:
-                // 前车急刹预警
-                ivTypeIcon.setImageResource(R.drawable.v2x_icon_obu_urgency_collision);
+                // 前车急刹预警 v2x_icon_obu_urgency_collision
+                ivTypeIcon.setImageResource(R.drawable.v2x_icon_ahead_car_brake);
                 tvDesc.setText(entity.getDesc());
                 tvType.setText("前车急刹");
                 tvType.setBackgroundResource(R.drawable.bg_v2x_event_type_read);
                 break;
+            case ObuConstant.TYPE_CROSS_COLLISION_WARNING:
+                // 交叉路口碰撞预警
+                ivTypeIcon.setImageResource(R.drawable.v2x_icon_car_collide_warning);
+                tvDesc.setText(entity.getDesc());
+                tvType.setText("交叉路口碰撞预警");
+                tvType.setBackgroundResource(R.drawable.bg_v2x_event_type_read);
+                break;
             case ObuConstant.TYPE_CHANGE_LIGHT_FOR_VIP:
                 // vip变灯提醒
                 ivTypeIcon.setImageResource(R.drawable.v2x_icon_obu_traffic_light);
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
index 3cccf1d883..f17633547a 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/warning/V2XWarningMarker.java
@@ -79,8 +79,6 @@ public class V2XWarningMarker implements IV2XMarker {
         Log.d(TAG, "显示时间为++" + String.valueOf(showTime));
         pointsBetween();
         bearing = V2XLocationListener.getInstance().getLastCarLocation().getBearing();
-        //预警蒙层
-        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
         isSelfLineClear = false;
         isFirstLocation = false;
         V2XServiceManager.getMarkerManager().removeMarkers(WARNING_ARROWS);
@@ -127,6 +125,9 @@ public class V2XWarningMarker implements IV2XMarker {
                 isSelfLineClear = true;
             }, showTime);
         }
+        //预警蒙层
+        MarkerServiceHandler.getApis().getV2XListenerManager().warningChangedForListenerWithDirection(mCloundWarningInfo.getDirection(), MogoReceiver.ACTION_V2X_FRONT_WARNING);
+
     }
 
     /**
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_ahead_car_brake.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_ahead_car_brake.png
new file mode 100644
index 0000000000..a6e80ec51e
Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_ahead_car_brake.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_car_collide_warning.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_car_collide_warning.png
new file mode 100644
index 0000000000..f5fd2de5e0
Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-1920x1000/v2x_icon_car_collide_warning.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_ahead_car_brake.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_ahead_car_brake.png
new file mode 100644
index 0000000000..31ea64f0ea
Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_ahead_car_brake.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_car_collide_warning.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_car_collide_warning.png
new file mode 100644
index 0000000000..e7709ff347
Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi-2560x1440/v2x_icon_car_collide_warning.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_ahead_car_brake.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_ahead_car_brake.png
new file mode 100644
index 0000000000..a6e80ec51e
Binary files /dev/null and b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_ahead_car_brake.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_car_collide_warning.png b/modules/mogo-module-v2x/src/main/res/drawable-xhdpi/v2x_icon_car_collide_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_icon_car_collide_warning.png differ
diff --git a/modules/mogo-module-v2x/src/main/res/layout/item_v2x_fault_help_vr.xml b/modules/mogo-module-v2x/src/main/res/layout/item_v2x_fault_help_vr.xml
index 419ca482a3..1e4c57715d 100644
--- a/modules/mogo-module-v2x/src/main/res/layout/item_v2x_fault_help_vr.xml
+++ b/modules/mogo-module-v2x/src/main/res/layout/item_v2x_fault_help_vr.xml
@@ -5,6 +5,7 @@
     android:layout_width="@dimen/module_v2x_fault_help_width"
     android:layout_height="@dimen/module_v2x_fault_help_height"
     android:layout_marginTop="@dimen/dp_8"
+    android:alpha="0.7"
     android:background="@drawable/bg_v2x_event_bg"
     tools:layout_height="wrap_content">
 
@@ -39,7 +40,7 @@
             android:paddingBottom="@dimen/dp_5"
             android:text="求助"
             android:textColor="@android:color/white"
-            android:textSize="@dimen/sp_20"
+            android:textSize="@dimen/module_v2x_fault_help_img_content_text_size"
             android:textStyle="bold"
             app:layout_constraintBottom_toBottomOf="parent"
             app:layout_constraintStart_toStartOf="@id/ivFaultHelpHead"
diff --git a/modules/mogo-module-v2x/src/main/res/layout/view_marker_event_car_vr.xml b/modules/mogo-module-v2x/src/main/res/layout/view_marker_event_car_vr.xml
new file mode 100644
index 0000000000..1cd5f8ca8a
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/res/layout/view_marker_event_car_vr.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:gravity="center"
+    android:orientation="vertical"
+    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
+
+    <ImageView
+        android:id="@+id/ivBg"
+        android:layout_width="@dimen/dp_300"
+        android:layout_height="@dimen/dp_300"
+        android:gravity="center"
+        android:orientation="vertical"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:src="@drawable/v_to_x_warning_circle_red_00040" />
+
+    <ImageView
+        android:id="@+id/ivCar"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:rotation="45"
+        app:layout_constraintBottom_toBottomOf="@+id/ivBg"
+        app:layout_constraintEnd_toEndOf="@+id/ivBg"
+        app:layout_constraintStart_toStartOf="@+id/ivBg"
+        app:layout_constraintTop_toTopOf="@+id/ivBg"
+        tools:src="@drawable/v_to_x_warning_car_red" />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail.xml b/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail.xml
index 691544963f..ceb3b427c3 100644
--- a/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail.xml
+++ b/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail.xml
@@ -29,7 +29,7 @@
         android:paddingRight="@dimen/dp_10"
         android:paddingBottom="@dimen/dp_3"
         android:text="前车急刹"
-        android:textColor="@color/white"
+        android:textColor="@color/v2x_white"
         android:textSize="@dimen/dp_24"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintLeft_toRightOf="@+id/ivObuTypeIcon"
diff --git a/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail_vr.xml b/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail_vr.xml
new file mode 100644
index 0000000000..37971199fb
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/res/layout/window_simple_obu_event_detail_vr.xml
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="wrap_content"
+    android:layout_height="@dimen/module_v2x_brake_tip_height"
+    android:layout_marginTop="@dimen/dp_20"
+    android:layout_gravity="center_horizontal"
+    android:background="@drawable/v2x_front_warning_bg">
+<!--    @dimen/module_v2x_brake_tip_width-->
+    <ImageView
+        android:id="@+id/ivObuTypeIcon"
+        android:layout_width="@dimen/module_v2x_brake_image_width"
+        android:layout_height="@dimen/module_v2x_brake_image_width"
+        android:layout_marginStart="@dimen/module_v2x_brake_image_margin_left"
+        android:src="@drawable/v2x_icon_ahead_car_brake"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/tvObuType"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginLeft="@dimen/dp_20"
+        android:background="@drawable/bg_v2x_event_type_read"
+        android:gravity="center"
+        android:paddingLeft="@dimen/dp_10"
+        android:paddingTop="@dimen/dp_3"
+        android:paddingRight="@dimen/dp_10"
+        android:paddingBottom="@dimen/dp_3"
+        android:text="前车急刹"
+        android:textColor="@color/v2x_white"
+        android:textSize="@dimen/dp_24"
+        android:visibility="gone"
+        app:layout_constraintBottom_toTopOf="@+id/tvObuDesc"
+        app:layout_constraintLeft_toRightOf="@+id/ivObuTypeIcon"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintVertical_chainStyle="packed" />
+
+    <TextView
+        android:id="@+id/tvObuDesc"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginLeft="@dimen/module_v2x_brake_image_margin_right"
+        android:layout_marginTop="@dimen/dp_10"
+        android:text="前车急刹"
+        android:textColor="@color/v2x_white"
+        android:textSize="@dimen/dp_32"
+        android:paddingRight="@dimen/module_v2x_brake_image_margin_left"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="@+id/tvObuType"
+        app:layout_constraintTop_toBottomOf="@+id/tvObuType" />
+
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-v2x/src/main/res/values-xhdpi-2560x1440/dimens.xml b/modules/mogo-module-v2x/src/main/res/values-xhdpi-2560x1440/dimens.xml
index bd5d9c6937..217d316789 100644
--- a/modules/mogo-module-v2x/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/modules/mogo-module-v2x/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -21,6 +21,7 @@
     <dimen name="module_v2x_fatigue_driving_window_height_ground">234px</dimen>
     <dimen name="module_v2x_fault_help_width">1067px</dimen>
     <dimen name="module_v2x_fault_help_height">187px</dimen>
+    <dimen name="module_v2x_fault_help_img_content_text_size">28px</dimen>
 
     <dimen name="module_v2x_fault_help_img_content_width">107px</dimen>
     <dimen name="module_v2x_fault_help_img_content_height">47px</dimen>
@@ -29,7 +30,7 @@
     <dimen name="module_v2x_fault_help_name_text_size">48px</dimen>
     <dimen name="module_v2x_fault_help_time_margin_bottom">35px</dimen>
     <dimen name="module_v2x_fault_help_time_text_size">36px</dimen>
-    <dimen name="module_v2x_fault_help_distance_text_size">64px</dimen>
+    <dimen name="module_v2x_fault_help_distance_text_size">80px</dimen>
     <dimen name="module_v2x_fault_help_event_call_width">108px</dimen>
 
     <dimen name="module_v2x_fault_help_event_navi_margin_right">53px</dimen>
diff --git a/modules/mogo-module-v2x/src/main/res/values-xhdpi/dimens.xml b/modules/mogo-module-v2x/src/main/res/values-xhdpi/dimens.xml
index 6fc0fe97ff..b4eb41ebb2 100644
--- a/modules/mogo-module-v2x/src/main/res/values-xhdpi/dimens.xml
+++ b/modules/mogo-module-v2x/src/main/res/values-xhdpi/dimens.xml
@@ -147,6 +147,7 @@
 
     <dimen name="module_v2x_fault_help_width">800px</dimen>
     <dimen name="module_v2x_fault_help_height">140px</dimen>
+    <dimen name="module_v2x_fault_help_img_content_text_size">20px</dimen>
 
     <dimen name="module_v2x_fault_help_img_content_width">80px</dimen>
     <dimen name="module_v2x_fault_help_img_content_height">35px</dimen>
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XWindowManagerListener.java b/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XWindowManagerListener.java
index b6b0abecd7..5c9e520da9 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XWindowManagerListener.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/v2x/IV2XWindowManagerListener.java
@@ -7,5 +7,5 @@ package com.mogo.service.v2x;
  */
 public interface IV2XWindowManagerListener {
     //移除v2x的所有道路事件及预警弹框
-    void removeAllTipWindow();
+    void removeTipWindowByListener();
 }
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 6d4e5b3a92..f5e87cd718 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
@@ -5,7 +5,6 @@ import android.content.Context;
 import android.content.Intent;
 import android.os.Handler;
 import android.os.Message;
-import android.os.RemoteException;
 import android.text.TextUtils;
 import android.util.Log;
 
@@ -47,7 +46,6 @@ import com.zhidao.adasconfig.api.AdasConfigApiController;
 import com.zhidao.adasconfig.common.config.EnumCarChatIncognitoMode;
 import com.zhidao.adasconfig.common.config.EnumCarHeading;
 import com.zhidao.adasconfig.common.config.EnumSkinStyle;
-import com.zhidao.autopilot.support.api.AutopilotServiceManage;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotArriveModel;
 import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.autopilotservice.model.AdasAIDLOwnerCarRectModel;
@@ -298,7 +296,8 @@ public class MogoADASController implements IMogoADASController {
     @Override
     public void killADAS() {
         try {
-            AutopilotServiceManage.getInstance().kill();
+            //AutopilotServiceManage.getInstance().kill();
+            adasProvider.killAdas();
         } catch (Exception e) {
 
         }
@@ -306,6 +305,16 @@ public class MogoADASController implements IMogoADASController {
 
     private volatile boolean needEmphasizeMyLocation = false;
 
+    private void testOCH() {
+        RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
+        currentAutopilot.isSpeakVoice = true;
+        currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 0, 1 );
+        currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat( 2, 3 );
+        currentAutopilot.vehicleType = 10;
+        Logger.d( TAG, "开启自动驾驶====" + currentAutopilot );
+        aiCloudToAdasData(currentAutopilot);
+    }
+
     @Override
     public void showADAS() {
 
@@ -328,6 +337,9 @@ public class MogoADASController implements IMogoADASController {
                 info.setSn(MoGoAiCloudClientConfig.getInstance().getSn());
                 AdasManager.getInstance().setBasicInfo(info);
                 invokeShowADASOperation();
+
+                //测试网约车
+                //testOCH();
             }
 
             @Override
@@ -386,7 +398,8 @@ public class MogoADASController implements IMogoADASController {
                         // 向adas发送车模list
                         String carModelList = SharedPrefsMgr.getInstance(context).getString("CAR_MODEL_LIST", "");
                         if (carModelList != null && !carModelList.isEmpty()) {
-                            AutopilotServiceManage.getInstance().settingCarModelListInfo(carModelList);
+                            //AutopilotServiceManage.getInstance().settingCarModelListInfo(carModelList);
+                            adasProvider.settingCarModelListInfo(carModelList);
                         }
                         // 此处进行网络请求，请求成功后再通知一次adas
                         requestCarModelList();
@@ -530,7 +543,8 @@ public class MogoADASController implements IMogoADASController {
             }
 
             try {
-                AutopilotServiceManage.getInstance().showAdas();
+                //AutopilotServiceManage.getInstance().showAdas();
+                adasProvider.showAdas();
             } catch (Exception e) {
                 Intent intent = new Intent(ACTION);
                 intent.putExtra(PARAM_COMMAND, VAL_COMMAND);
@@ -553,7 +567,8 @@ public class MogoADASController implements IMogoADASController {
         Logger.d(TAG, "close adas");
 
         try {
-            AutopilotServiceManage.getInstance().hideAdas();
+            //AutopilotServiceManage.getInstance().hideAdas();
+            adasProvider.hideAdas();
         } catch (Exception e) {
             Intent intent = new Intent(ACTION);
             intent.putExtra(PARAM_COMMAND, VAL_COMMAND);
@@ -582,7 +597,7 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void init(Context context) {
-        AutopilotServiceManage.getInstance().init(context);
+        //AutopilotServiceManage.getInstance().init(context);
         mIsReleased = false;
         mAdasMessageFactory = new MyMessageFactory();
         adasProvider = ARouter.getInstance().navigation(AdasProvider.class);
@@ -591,12 +606,14 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void setSettingStatus(boolean show) {
-        AutopilotServiceManage.getInstance().setSettingStatus(show);
+        //AutopilotServiceManage.getInstance().setSettingStatus(show);
+        adasProvider.setSettingStatus(show);
     }
 
     @Override
     public void setUseAlgorithm(boolean open) {
-        AutopilotServiceManage.getInstance().setUseAlgorithm(open);
+        //AutopilotServiceManage.getInstance().setUseAlgorithm(open);
+        adasProvider.setUseAlgorithm(open);
     }
 
     @Override
@@ -667,7 +684,8 @@ public class MogoADASController implements IMogoADASController {
         AdasControlCommandParameter parameter = new AdasControlCommandParameter(action, result);
         //位置信息 action是aiCloudToStartAutopilot
         try {
-            AutopilotServiceManage.getInstance().aiCloudToAdasData(GsonUtil.jsonFromObject(parameter));
+            //AutopilotServiceManage.getInstance().aiCloudToAdasData(GsonUtil.jsonFromObject(parameter));
+            adasProvider.sendWsMessage(GsonUtil.jsonFromObject(parameter));
         } catch (Exception e) {
             e.printStackTrace();
         }
@@ -695,7 +713,8 @@ public class MogoADASController implements IMogoADASController {
                         String value = GsonUtil.jsonFromObject(o.getResult());
                         SharedPrefsMgr.getInstance(context).putString("CAR_MODEL_LIST", value);
                         if (value != null && !value.isEmpty()) {
-                            AutopilotServiceManage.getInstance().settingCarModelListInfo(value);
+                            //AutopilotServiceManage.getInstance().settingCarModelListInfo(value);
+                            adasProvider.settingCarModelListInfo(value);
                         }
                     }
 
@@ -719,7 +738,8 @@ public class MogoADASController implements IMogoADASController {
         mIsReleased = true;
         //AutopilotServiceManage.getInstance().unRegisterAutopilotDataListener( mAutopolitDataCallBack );
         adasProvider.removeAdasEventListener(mAdasDataListener);
-        AutopilotServiceManage.getInstance().release();
+        adasProvider.removeAdasStatusListener();
+        //AutopilotServiceManage.getInstance().release();
     }
 
     @Override
@@ -829,7 +849,8 @@ public class MogoADASController implements IMogoADASController {
         }
         int status = IMogoAdasOCHCallback.STATUS_AUTOPILOT_DISABLE;
         try {
-            status = AutopilotServiceManage.getInstance().autopilotStateCall().getState();
+            //status = AutopilotServiceManage.getInstance().autopilotStateCall().getState();
+            status = adasProvider.autopilotStateCall().getState();
         } catch (Exception e) {
             e.printStackTrace();
         }
@@ -854,11 +875,12 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void cancelAutopilot() {
-        try {
-            AutopilotServiceManage.getInstance().cancelAutopilot();
-        } catch (RemoteException e) {
-            e.printStackTrace();
-        }
+        //try {
+            //AutopilotServiceManage.getInstance().cancelAutopilot();
+            adasProvider.cancelPolit();
+        //} catch (RemoteException e) {
+        //    e.printStackTrace();
+        //}
     }
 
     @Override
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/locationinfo/MogoLocationInfoService.java b/services/mogo-service/src/main/java/com/mogo/service/impl/locationinfo/MogoLocationInfoService.java
index 9f5135aa35..411d8783dd 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/locationinfo/MogoLocationInfoService.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/locationinfo/MogoLocationInfoService.java
@@ -49,7 +49,7 @@ class MogoLocationInfoService implements IMogoLocationInfoService {
     public void init( Context context ) {
 
         try {
-            Class< ? > clazz = Class.forName( "com.mogo.base.services.locationinfo.MogoLocationInfoServices" );
+            Class< ? > clazz = Class.forName( "com.mogo.aicloud.services.locationinfo.MogoLocationInfoServices" );
             Method getInstanceMethod = clazz.getMethod( "getInstance" );
             getInstanceMethod.setAccessible( true );
             mDelegate = ( IMogoLocationInfoService ) getInstanceMethod.invoke( null );
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java b/services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java
index 42aa23f9a3..bfccf24afb 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/statusmanager/MogoStatusManager.java
@@ -159,7 +159,7 @@ public class MogoStatusManager implements IMogoStatusManager {
 
     private boolean get_bool_val(StatusDescriptor descriptor ) {
         Boolean val = mStatus.get( descriptor );
-        return val == null ? false : val;
+        return val != null && val;
     }
 
     @Override
@@ -169,7 +169,6 @@ public class MogoStatusManager implements IMogoStatusManager {
 
     @Override
     public void setVrMode(String tag, boolean vrMode) {
-        Log.d("liyz", "setVrMode --------> ");
         doSetStatus(tag, StatusDescriptor.VR_MODE, vrMode);
     }
 
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
index 1e722f0f30..fd8c0e2352 100644
--- 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
@@ -61,7 +61,7 @@ public class V2XManager implements IV2XProvider {
         if (listeners != null && !listeners.isEmpty()) {
             for (IV2XWindowManagerListener listener : listeners) {
                 if (listener != null) {
-                    listener.removeAllTipWindow();
+                    listener.removeTipWindowByListener();
                 }
             }
         }
diff --git a/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java b/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
index 6e82db9a8b..d016bc43b1 100644
--- a/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
+++ b/test/crashreport-bugly/src/main/java/com/mogo/test/crashreport/bugly/BuglyCrashReportProvider.java
@@ -1,13 +1,17 @@
 package com.mogo.test.crashreport.bugly;
 
 import android.content.Context;
+import android.content.pm.ApplicationInfo;
+import android.content.pm.PackageManager;
+import android.os.Bundle;
 import android.text.TextUtils;
+import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
-import com.mogo.commons.network.Utils;
 import com.mogo.test.crashreport.CrashReportConstants;
 import com.mogo.test.crashreport.ITestCrashReportProvider;
+import com.mogo.utils.AppUtils;
 import com.mogo.utils.logger.Logger;
 import com.tencent.bugly.crashreport.CrashReport;
 
@@ -28,7 +32,7 @@ class BuglyCrashReportProvider implements ITestCrashReportProvider {
     private static final String TAG = "BuglyCrashReportProvider";
 
     @Override
-    public void init( Context context ) {
+    public void init(Context context ) {
         Logger.d(TAG, "init");
         String packageName = context.getPackageName();
         String processName = getProcessName( android.os.Process.myPid() );
@@ -36,6 +40,8 @@ class BuglyCrashReportProvider implements ITestCrashReportProvider {
         strategy.setUploadProcess( processName == null || processName.equals( packageName ) );
         CrashReport.initCrashReport( context, "f3f8b0b2f1", true, strategy );
         CrashReport.putUserData( context, "serial", MoGoAiCloudClientConfig.getInstance().getSn() );
+        String mapSDKVersion =  AppUtils.getCustomMapSDKVersion(context);
+        CrashReport.putUserData( context, "MAP_SDK_VERSION",mapSDKVersion );
     }
 
     /**
diff --git a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java b/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
index d510835ac5..579c6704cc 100644
--- a/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
+++ b/test/crashreport-upgrade/src/main/java/com/mogo/test/crashreport/upgrade/UpgradeReportProvider.java
@@ -2,11 +2,13 @@ package com.mogo.test.crashreport.upgrade;
 
 import android.content.Context;
 import android.text.TextUtils;
+import android.util.Log;
 
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.network.Utils;
+import com.mogo.utils.AppUtils;
 import com.mogo.utils.logger.Logger;
 import com.tencent.bugly.Bugly;
 import com.tencent.bugly.crashreport.CrashReport;
@@ -41,6 +43,8 @@ public class UpgradeReportProvider implements IProvider {
         CrashReport.putUserData(context, "serial", MoGoAiCloudClientConfig.getInstance().getSn());
 
         Bugly.init(context, "f3f8b0b2f1", true, strategy);
+        String mapSDKVersion =  AppUtils.getCustomMapSDKVersion(context);
+        CrashReport.putUserData( context, "MAP_SDK_VERSION",mapSDKVersion );
     }
 
     /**