diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index 784b4f3301..ceac0734b5 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -51,6 +51,10 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListener
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager.invokeAutopilotRotting
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager.invokeAutopilotTrajectory
 import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedListenerManager.invokeStartAutopilotFailed
+import com.mogo.eagle.core.function.call.obu.CallerObuMapMathListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsiListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningRsmListenerManager
+import com.mogo.eagle.core.function.call.obu.CallerObuWarningSpatListenerManager
 import com.mogo.eagle.core.function.call.obucombine.CallerObuDcCombineListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
@@ -544,6 +548,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param spatWarningData 数据
      */
     override fun onoObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
+        CallerObuWarningSpatListenerManager.invokeObuSpatWarning(spatWarningData!!)
     }
     /**
      * OBU RSI预警信息
@@ -552,6 +557,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param rsiWarningData 数据
      */
     override fun onoObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
+        CallerObuWarningRsiListenerManager.invokeObuRsiWarning(rsiWarningData!!)
     }
 
     /**
@@ -561,6 +567,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param rsmWarningData 数据
      */
     override fun onoObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
+        CallerObuWarningRsmListenerManager.invokeObuRsmWarning(rsmWarningData!!)
     }
     /**
      * OBU 地图匹配结果
@@ -569,6 +576,7 @@ class MoGoAdasListenerImpl : OnAdasListener {
      * @param mapMatchData 数据
      */
     override fun onoObuRsmWarning(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
+        CallerObuMapMathListenerManager.invokeObuMapMath(mapMatchData!!)
     }
 
     /**
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
index eb12f9251e..c58fe3b680 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/location/MoGoLocationManager.kt
@@ -18,6 +18,7 @@ object MoGoLocationManager :
     CallerBase<IMoGoLocationListener>(),
     IMoGoChassisLocationWGS84Listener,
     IMoGoObuLocationWGS84Listener {
+
     private val TAG = "MoGoLocationManager"
 
     init {
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/adapter/MoGoObuListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/adapter/MoGoObuListenerImpl.kt
index 3c8e89fa18..2ca1b43239 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/adapter/MoGoObuListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/adapter/MoGoObuListenerImpl.kt
@@ -57,7 +57,7 @@ object MoGoObuListenerImpl : OnMogoObuListener() {
      * @since 1.0.0
      */
     override fun onMogoObuSpatWarning(data: MogoObuSpatWarningData) {
-        CallerObuWarningSpatListenerManager.invokeObuSpatWarning(data)
+
     }
 
     /**
@@ -67,7 +67,7 @@ object MoGoObuListenerImpl : OnMogoObuListener() {
      * @since 1.0.0
      */
     override fun onMogoObuRsiWarning(data: MogoObuRsiWarningData) {
-        CallerObuWarningRsiListenerManager.invokeObuRsiWarning(data)
+
     }
 
     /**
@@ -77,7 +77,6 @@ object MoGoObuListenerImpl : OnMogoObuListener() {
      * @since 1.0.0
      */
     override fun onMogoObuRsmWarning(data: MogoObuRsmWarningData) {
-        CallerObuWarningRsmListenerManager.invokeObuRsmWarning(data)
     }
 
     /**
@@ -87,6 +86,5 @@ object MoGoObuListenerImpl : OnMogoObuListener() {
      * @since 1.0.0
      */
     override fun onMogoObuMapMath(data: MogoObuMapMathData) {
-        CallerObuMapMathListenerManager.invokeObuMapMath(data)
     }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningMapListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningMapListener.kt
index cef3c96e27..0c38d2a3bd 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningMapListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningMapListener.kt
@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.obu
 
-import com.mogo.support.obu.model.MogoObuMapMathData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU 地图匹配结果，
@@ -12,9 +12,9 @@ interface IMoGoObuWarningMapListener {
     /**
      * 地图匹配结果
      *
-     * @param data 数据
+     * @param mapMatchData 数据
      * @since 1.0.0
      */
-    fun onMoGoObuMapMath(data: MogoObuMapMathData)
+    fun onMoGoObuMapMath(mapMatchData: ObuScene.MapMatchData)
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsiListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsiListener.kt
index cd0bc01735..cfe22d4657 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsiListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsiListener.kt
@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.obu
 
-import com.mogo.support.obu.model.MogoObuRsiWarningData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU RSI预警信息，
@@ -12,9 +12,9 @@ interface IMoGoObuWarningRsiListener {
     /**
      * RSI预警信息
      *
-     * @param data 数据
+     * @param rsiWarningData 数据
      * @since 1.0.0
      */
-    fun onMoGoObuRsiWarning(data: MogoObuRsiWarningData)
+    fun onMoGoObuRsiWarning(rsiWarningData: ObuScene.RsiWarningData)
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsmListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsmListener.kt
index f4cf1f6be2..0f09c305c1 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsmListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningRsmListener.kt
@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.obu
 
-import com.mogo.support.obu.model.MogoObuRsmWarningData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU RSM预警信息，弱势交通参与者预警信息
@@ -12,9 +12,9 @@ interface IMoGoObuWarningRsmListener {
     /**
      * RSM预警信息，弱势交通参与者预警信息
      *
-     * @param data 数据
+     * @param rsmWarningData 数据
      * @since 1.0.0
      */
-    fun onMoGoObuRsmWarning(data: MogoObuRsmWarningData)
+    fun onMoGoObuRsmWarning(rsmWarningData: ObuScene.RsmWarningData)
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningSpatListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningSpatListener.kt
index dfd99d2079..afa693147b 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningSpatListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/obu/IMoGoObuWarningSpatListener.kt
@@ -1,6 +1,6 @@
 package com.mogo.eagle.core.function.api.obu
 
-import com.mogo.support.obu.model.MogoObuSpatWarningData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU 红绿灯预警信息，
@@ -12,9 +12,9 @@ interface IMoGoObuWarningSpatListener {
     /**
      * OBU 红绿灯预警信息
      *
-     * @param data 数据
+     * @param spatWarningData 数据
      * @since 1.0.0
      */
-    fun onMoGoObuSpatWarning(data: MogoObuSpatWarningData)
+    fun onMoGoObuSpatWarning(spatWarningData: ObuScene.SpatWarningData)
 
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuMapMathListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuMapMathListenerManager.kt
index 1885e9dd63..e80b1231ca 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuMapMathListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuMapMathListenerManager.kt
@@ -2,14 +2,14 @@ package com.mogo.eagle.core.function.call.obu
 
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningMapListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.support.obu.model.MogoObuMapMathData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU 地图匹配结果,车道线、红绿灯、建议最大车速、建议最小车速
  */
 object CallerObuMapMathListenerManager : CallerBase<IMoGoObuWarningMapListener>() {
 
-    fun invokeObuMapMath(data: MogoObuMapMathData) {
+    fun invokeObuMapMath(data: ObuScene.MapMatchData) {
         M_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsiListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsiListenerManager.kt
index e8ad4f4dc2..e453790642 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsiListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsiListenerManager.kt
@@ -2,14 +2,14 @@ package com.mogo.eagle.core.function.call.obu
 
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsiListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.support.obu.model.MogoObuRsiWarningData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU 交通事件预警
  */
 object CallerObuWarningRsiListenerManager : CallerBase<IMoGoObuWarningRsiListener>() {
 
-    fun invokeObuRsiWarning(data: MogoObuRsiWarningData) {
+    fun invokeObuRsiWarning(data: ObuScene.RsiWarningData) {
         M_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsmListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsmListenerManager.kt
index 38c8549d2b..80e79ec2bb 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsmListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningRsmListenerManager.kt
@@ -2,14 +2,14 @@ package com.mogo.eagle.core.function.call.obu
 
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningRsmListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.support.obu.model.MogoObuRsmWarningData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU RSM预警信息，弱势交通参与者预警信息
  */
 object CallerObuWarningRsmListenerManager : CallerBase<IMoGoObuWarningRsmListener>() {
 
-    fun invokeObuRsmWarning(data: MogoObuRsmWarningData) {
+    fun invokeObuRsmWarning(data: ObuScene.RsmWarningData) {
         M_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningSpatListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningSpatListenerManager.kt
index 98d48a9834..0718dec326 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningSpatListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/obu/CallerObuWarningSpatListenerManager.kt
@@ -2,14 +2,14 @@ package com.mogo.eagle.core.function.call.obu
 
 import com.mogo.eagle.core.function.api.obu.IMoGoObuWarningSpatListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import com.mogo.support.obu.model.MogoObuSpatWarningData
+import com.mogo.support.obu.ObuScene
 
 /**
  * OBU 红绿灯信息
  */
 object CallerObuWarningSpatListenerManager : CallerBase<IMoGoObuWarningSpatListener>() {
 
-    fun invokeObuSpatWarning(data: MogoObuSpatWarningData) {
+    fun invokeObuSpatWarning(data: ObuScene.SpatWarningData) {
         M_LISTENERS.forEach {
             val tag = it.key
             val listener = it.value