diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt
index f66e8b1243..9a6f593406 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/Identify.kt
@@ -5,9 +5,7 @@ import mogo.telematics.pad.MessagePad.TrackedObject
 
 interface Identify {
 
-    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?){
-
-    }
+    fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?)
 
     fun renderAdasRecognizedResult(resultList: List<TrackedObject>?)
 
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt
index 928a999498..7206c6fcc8 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyBeautifyDataDrawer.kt
@@ -17,6 +17,10 @@ class IdentifyBeautifyDataDrawer : Identify {
         private const val TAG = "IdentifyDataDrawer"
     }
 
+    override fun renderPlanningWarningObj(planningObjects: List<MessagePad.PlanningObject>?) {
+        TrackManager.getInstance().renderPlanningWarningObj(planningObjects)
+    }
+
     /**
      * 渲染 adas 识别的数据
      *
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
index 041d8f2e01..b6a972fe95 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -154,11 +154,6 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
             //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
-//                if (data.speed < 0.5) {
-//                    temp = data.toBuilder().setHeading(cacheData.heading)
-//                        .setLongitude(cacheData.longitude)
-//                        .setLatitude(cacheData.latitude).build()
-//                }
                 if (colorTrafficData.containsKey(uuid)) {
                     val planningTrack = colorTrafficData[uuid]
                     if (!timeOut(planningTrack!!.time)) {
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
index 8ad1d08d11..87200845d9 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/TrackManager.java
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.map.identify;
 
 import android.annotation.SuppressLint;
 import android.os.Build;
-import android.util.Log;
 
 import androidx.annotation.RequiresApi;
 
@@ -11,6 +10,7 @@ import com.google.common.collect.HashBiMap;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.utilcode.geometry.S2CellId;
 import com.mogo.eagle.core.utilcode.geometry.S2LatLng;
 import com.mogo.map.MogoMarkerManager;
@@ -35,6 +35,9 @@ public class TrackManager {
 
     public static double LIMIT_SPEED = 0.45;
 
+    private TrackManager() {
+    }
+
     /**
      * marker缓存队列
      */
@@ -57,6 +60,42 @@ public class TrackManager {
     @SuppressLint("NewApi")
     private final HashMap<String, MessagePad.TrackedObject> mFilterTrafficData = new HashMap<>();
 
+    /**
+     * planning 感知物预警缓存，用于重置color状态
+     */
+    private final ConcurrentHashMap<String, PlanningTrack> colorTrafficData = new ConcurrentHashMap<>();
+
+    @SuppressLint("NewApi")
+    public synchronized void renderPlanningWarningObj(List<MessagePad.PlanningObject> planningObjects) {
+        colorTrafficData.clear();
+        //处于美化模式或者自动驾驶状态下展示
+        if (FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData || CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() == 2) {
+            if (planningObjects == null) {
+                return;
+            }
+            planningObjects.forEach(planningObj -> {
+                String trackId = "" + planningObj.getUuid();
+                if (mMarkersCaches.containsKey(trackId)) {
+                    TrackObj trackObj = mMarkersCaches.get(trackId);
+                    if (trackObj == null) {
+                        return;
+                    }
+                    if (planningObj.getType() == 0) {
+                        colorTrafficData.put(trackId, new PlanningTrack(
+                                "#D65D5AFF",
+                                CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
+                        ));
+                    } else if (planningObj.getType() == 1) {
+                        colorTrafficData.put(trackId, new PlanningTrack(
+                                "#E4DD94FF",
+                                CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime()
+                        ));
+                    }
+                }
+            });
+        }
+    }
+
     /**
      * 过滤后的数据集合
      */
@@ -71,6 +110,17 @@ public class TrackManager {
             }
             String uuid = "" + data.getUuid();
             TrackObj trackObj = mMarkersCaches.get(uuid);
+
+            // 判断物体是否与预警信息
+            if (colorTrafficData.containsKey(uuid)) {
+                PlanningTrack planningTrack = colorTrafficData.get(uuid);
+                if (planningTrack != null && !timeOut(planningTrack.getTime())) {
+                    data = data.toBuilder().setColor(planningTrack.getColor()).build();
+                } else {
+                    colorTrafficData.remove(uuid);
+                }
+            }
+
             if (trackObj != null) {
                 trackObj.updateObj(data);
             } else {
@@ -80,7 +130,6 @@ public class TrackManager {
                 // 融合逻辑 : 判断是否有重合元素
                 if (cellIdCaches.containsValue(pos)) {
                     String findSameValue = cellIdCaches.inverse().get(pos);
-                    Log.d("hy uuid : " + findSameValue, " 与新感知物 : " + uuid + "相同");
                     //uuid处理
                     data = data.toBuilder().setUuid(Integer.parseInt(findSameValue)).build();
                     TrackObj cacheTrack = mMarkersCaches.get(findSameValue);
@@ -102,6 +151,7 @@ public class TrackManager {
                     trackObj = new TrackObj(data);
                 }
             }
+
             mFilterTrafficData.put(uuid, trackObj.getCache());
             cellIdCaches.forcePut(uuid, trackObj.getCellIdPos());
             mMarkersCaches.put(uuid, trackObj);
@@ -146,5 +196,9 @@ public class TrackManager {
         mMarkersCaches.forEach((uuid, trackObj) -> removeKey(uuid));
     }
 
+    private Boolean timeOut(Double time) {
+        long duration = (long) (CallerAutoPilotStatusListenerManager.INSTANCE.getCurWgs84SatelliteTime() * 1000) - (long) (time * 1000);
+        return duration >= 500;
+    }
 
 }