diff --git a/.idea/misc.xml b/.idea/misc.xml
index c74f9c1030..c453c35421 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -13,6 +13,7 @@
       <map>
         <entry key="../../../../../layout/custom_preview.xml" value="0.19947916666666668" />
         <entry key="modules/mogo-module-hmi/src/main/res/layout/fragment_warning.xml" value="0.34427083333333336" />
+        <entry key="modules/mogo-module-hmi/src/main/res/layout/view_traffic_light_vr.xml" value="6.0" />
         <entry key="modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch.xml" value="0.184" />
         <entry key="modules/mogo-module-service/src/main/res/drawable/bg_adas_dispatch_affirm.xml" value="0.19166666666666668" />
         <entry key="modules/mogo-module-service/src/main/res/drawable/bg_map_marker_blue_info.xml" value="0.184" />
diff --git a/README.md b/README.md
index 438d86a6a0..956623bd8c 100644
--- a/README.md
+++ b/README.md
@@ -19,7 +19,7 @@ adb shell am broadcast -a com.hmi.v2x.notification --ez v2xIsShow false  --es ta
 adb shell am broadcast -a com.hmi.v2x.trafficlight --ez trafficLightIsShow true  --ei trafficLightCheckType 1
 adb shell am broadcast -a com.hmi.v2x.trafficlight --ez trafficLightIsShow false
 
-// 控制红绿灯
+// 控制限速
 adb shell am broadcast -a com.hmi.v2x.limitingvelocity --ez limitingVelocityIsShow true  --ei limitingVelocitySpeed 60
 adb shell am broadcast -a com.hmi.v2x.limitingvelocity --ez limitingVelocityIsShow false
 
diff --git a/modules/mogo-module-common/build.gradle b/modules/mogo-module-common/build.gradle
index 1ca6db6bb2..b5dc35c5e6 100644
--- a/modules/mogo-module-common/build.gradle
+++ b/modules/mogo-module-common/build.gradle
@@ -1,6 +1,10 @@
-apply plugin: 'com.android.library'
-apply plugin: 'kotlin-android'
-apply plugin: 'kotlin-android-extensions'
+plugins {
+    id 'com.android.library'
+    id 'kotlin-android'
+    id 'kotlin-android-extensions'
+    id 'kotlin-kapt'
+    id 'com.alibaba.arouter'
+}
 
 android {
     compileSdkVersion rootProject.ext.android.compileSdkVersion
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
new file mode 100644
index 0000000000..50bc4cdcb4
--- /dev/null
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/TrafficMarkerDrawer.kt
@@ -0,0 +1,201 @@
+package com.mogo.module.common.drawer
+
+import android.annotation.SuppressLint
+import android.content.Context
+import android.os.Handler
+import android.os.Message
+import com.mogo.commons.AbsMogoApplication
+import com.mogo.map.MogoLatLng
+import com.mogo.map.marker.IMogoMarker
+import com.mogo.map.marker.MogoMarkerOptions
+import com.mogo.module.common.MogoApisHandler
+import com.mogo.module.common.constants.DataTypes
+import com.mogo.module.common.drawer.bean.TrafficData
+import com.mogo.utils.WorkThreadHandler
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/8/18 11:12 上午
+ * 交通元素 2D\3D绘制
+ */
+@SuppressLint("StaticFieldLeak")
+object TrafficMarkerDrawer {
+
+    private val TAG = "TrafficMarkerDrawer"
+
+    private var mContext: Context? = null
+
+    // 动画持续时间
+    private val stepTime = 100L
+
+    // 维护Obu识别的他车集合
+    private val mTrafficMap = ConcurrentHashMap<String, TrafficData>()
+
+    // 地图内部资源md5缓存，便于资源复用
+    private val mMarkerCachesResMd5Values = ConcurrentHashMap<String, String>()
+
+    // 上一帧数据的缓存，用来做移动动画
+    private val mMarkersCaches = ConcurrentHashMap<String, IMogoMarker>()
+
+    // 维护一个线程定时轮询数据进行地图绘制
+    private val mDrawerHandler: Handler =
+        object : Handler(WorkThreadHandler.newInstance("other_traffic_drawer").looper) {
+            override fun handleMessage(msg: Message) {
+                super.handleMessage(msg)
+                drawerTrafficInfo()
+                // 延时50毫秒重复发送自己，定时轮询进行车辆绘制，可以及时将已经不存在车辆删除
+                sendEmptyMessageDelayed(0, 100L)
+            }
+        }
+
+    init {
+        mContext = AbsMogoApplication.getApp()
+        mDrawerHandler.sendEmptyMessageDelayed(1, 0L)
+    }
+
+    /**
+     * 添加识别的数据
+     */
+    fun addTrafficInfo(trafficData: TrafficData) {
+        mTrafficMap[trafficData.uuid] = trafficData
+    }
+
+    /**
+     * 更新识别数据,V2V预警的时候需要修改车辆颜色
+     */
+    fun updateITrafficInfo(trafficData: TrafficData) {
+        mTrafficMap[trafficData.uuid] = trafficData
+    }
+
+    /**
+     * 移除识别的数据
+     */
+    fun removeCvxRvInfoIndInfo(key: String) {
+        if (mTrafficMap.containsKey(key)) {
+            mTrafficMap.remove(key)
+        }
+    }
+
+    /**
+     * 绘制
+     */
+    private fun drawerTrafficInfo() {
+        // 数据为空的时候清除所有数据
+        if (mTrafficMap.isEmpty()) {
+            mMarkersCaches.forEach {
+                it.value.remove()
+            }
+            mMarkersCaches.clear()
+        } else {
+            // 循环绘制识别的数据
+            mTrafficMap.forEach {
+                //Logger.d(TAG, "drawerCvxRvInfo：${it.value}")
+
+                // 如果数据已经存在 Marker，取出做动画
+                if (mMarkersCaches[it.key] != null) {
+                    mMarkersCaches[it.key]?.let { it1 ->
+                        changeDynamicMarker(it1, it.value)
+                    }
+                }
+                // 不存在的添加Marker绘制
+                else {
+                    drawObuRecognizedDataMarker(it.value)
+                }
+            }
+        }
+    }
+
+
+    /**
+     * 绘制单条
+     */
+    private fun drawObuRecognizedDataMarker(trafficData: TrafficData) {
+        if (trafficData.type != null) {
+            val resId: Int = trafficData.type.traffic3DIconId
+
+            val resIdVal = resId.toString() + ""
+
+            val options = MogoMarkerOptions()
+                .owner(DataTypes.TYPE_MARKER_ADAS)
+                .anchor(0.5f, 0.5f)
+                .set3DMode(true)
+                .gps(true)
+                .controlAngle(true)
+                .resName(mMarkerCachesResMd5Values[resIdVal])
+                .icon3DRes(resId)
+                .rotate(trafficData.heading.toFloat())
+                .position(
+                    MogoLatLng(
+                        trafficData.lat,
+                        trafficData.lon
+                    )
+                )
+
+            // 修改颜色
+            when (trafficData.threatLevel) {
+                1 -> {
+                    mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
+                }
+                2 -> {
+                    mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
+                }
+                3 -> {
+                    mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
+                }
+                else -> {
+                    mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
+                }
+            }
+
+            val marker = MogoApisHandler.getInstance().apis
+                .mapServiceApi
+                .getMarkerManager(mContext)
+                .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
+
+            // 缓存3D资源
+            mMarkerCachesResMd5Values[resIdVal] = marker.markerResName
+            // 缓存数据
+            mMarkersCaches[trafficData.uuid] = marker
+        }
+    }
+
+    /**
+     * 带动画的修改Marker
+     */
+    private fun changeDynamicMarker(
+        marker: IMogoMarker,
+        trafficData: TrafficData
+    ) {
+        val resId: Int = trafficData.type.traffic3DIconId
+        val resIdVal = resId.toString() + ""
+        val options = marker.mogoMarkerOptions
+        options.resName(mMarkerCachesResMd5Values[resIdVal])
+            .icon3DRes(resId)
+
+        // 修改颜色
+        when (trafficData.threatLevel) {
+            1 -> {
+                mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
+            }
+            2 -> {
+                mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FFD53EFF")
+            }
+            3 -> {
+                mMarkersCaches[trafficData.uuid]?.setAnchorColor("#FF3C45FF")
+            }
+            else -> {
+                mMarkersCaches[trafficData.uuid]?.setAnchorColor("#D8D8D8FF")
+            }
+        }
+
+        marker.addDynamicAnchorPosition(
+            MogoLatLng(
+                trafficData.lat,
+                trafficData.lon
+            ),
+            trafficData.heading.toFloat(),
+            stepTime
+        )
+    }
+}
\ No newline at end of file
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/bean/TrafficData.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/bean/TrafficData.java
new file mode 100644
index 0000000000..a7707482d3
--- /dev/null
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/bean/TrafficData.java
@@ -0,0 +1,77 @@
+package com.mogo.module.common.drawer.bean;
+
+import com.mogo.module.common.enums.TrafficTypeEnum;
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/8/17 8:41 下午
+ * 交通元素数据，
+ */
+public class TrafficData {
+
+    /**
+     * 交通元素类型, 车、人、摩托、大巴车、卡车、自行车
+     */
+    public TrafficTypeEnum type;
+
+    /**
+     * 识别物体唯一标识
+     */
+    public String uuid;
+
+    /**
+     * 识别物体的纬度
+     */
+    public double lat;
+
+    /**
+     * 识别物体的经度
+     */
+    public double lon;
+
+    /**
+     * 车头朝向
+     */
+    public double heading;
+
+    /**
+     * 系统时间
+     */
+    public long systemTime;
+
+    /**
+     * 定位卫星时间
+     */
+    public long satelliteTime;
+
+    /**
+     * 海拔
+     */
+    public double alt;
+
+    /**
+     * 速度
+     */
+    public double speed;
+
+    /**
+     * 莫顿码
+     */
+    public long mortonCode;
+
+    /**
+     * 实际距离
+     * 使用distanceX和distanceY计算
+     */
+    public double distance;
+
+    /**
+     * 危险等级
+     * range(0..3)
+     * 0x00: 保留
+     * 0x01: 模型原始颜色
+     * 0x02: 通知 -- 黄
+     * 0x03: 警告 -- 红
+     */
+    public int threatLevel;
+}
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/TrafficTypeEnum.kt b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/TrafficTypeEnum.kt
new file mode 100644
index 0000000000..ea16d88c29
--- /dev/null
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/TrafficTypeEnum.kt
@@ -0,0 +1,61 @@
+package com.mogo.module.common.enums
+
+import com.mogo.module.common.R
+
+/**
+ * @author        xiaoyuzhou
+ * @date          2021/8/18 11:39 上午
+ * 交通元素类型
+ */
+enum class TrafficTypeEnum(
+    var type: Int,
+    var desc: String,
+    var traffic2DIconId: Int,
+    var traffic3DIconId: Int
+) {
+
+    TYPE_TRAFFIC_ID_WEI_ZHI(
+        0,
+        "未知数据",
+        R.raw.tache,
+        R.raw.tache
+    ),
+    TYPE_TRAFFIC_ID_PEOPLE(
+        1,
+        "人",
+        R.raw.people,
+        R.raw.people
+    ),
+    TYPE_TRAFFIC_ID_BICYCLE(
+        2,
+        "自行车",
+        R.raw.zixingche,
+        R.raw.zixingche
+    ),
+    TYPE_TRAFFIC_ID_TA_CHE(
+        3,
+        "他车",
+        R.raw.tachexiaoche,
+        R.raw.tachexiaoche
+    ),
+    TYPE_TRAFFIC_ID_MOTO(
+        4,
+        "摩托",
+        R.raw.motorbike,
+        R.raw.motorbike
+    ),
+    TYPE_TRAFFIC_ID_BUS(
+        6,
+        "大巴",
+        R.raw.bus,
+        R.raw.bus
+    ),
+    TYPE_TRAFFIC_ID_TRUCK(
+        8,
+        "卡车",
+        R.raw.daba,
+        R.raw.daba
+    )
+
+
+}
\ No newline at end of file
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/enum/WarningTypeEnum.kt b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/WarningTypeEnum.kt
similarity index 99%
rename from modules/mogo-module-common/src/main/java/com/mogo/module/common/enum/WarningTypeEnum.kt
rename to modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/WarningTypeEnum.kt
index 3dc8066914..292d8a55c4 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/enum/WarningTypeEnum.kt
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/enums/WarningTypeEnum.kt
@@ -1,4 +1,4 @@
-package com.mogo.module.common.enum
+package com.mogo.module.common.enums
 
 import com.mogo.module.common.R
 import com.zhidao.support.obu.constants.ObuConstants
diff --git a/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/receiver/V2XWarningBroadcastReceiver.kt b/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/receiver/V2XWarningBroadcastReceiver.kt
index 4ee2f44b1f..827332db4e 100644
--- a/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/receiver/V2XWarningBroadcastReceiver.kt
+++ b/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/receiver/V2XWarningBroadcastReceiver.kt
@@ -4,7 +4,7 @@ import android.content.BroadcastReceiver
 import android.content.Context
 import android.content.Intent
 import com.alibaba.android.arouter.launcher.ARouter
-import com.mogo.module.common.enum.WarningTypeEnum
+import com.mogo.module.common.enums.WarningTypeEnum
 import com.mogo.module.hmi.WaringConst
 import com.mogo.service.IMogoServiceApis
 import com.mogo.service.MogoServicePaths
diff --git a/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/ui/MoGoWarningFragment.kt b/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/ui/MoGoWarningFragment.kt
index e9dc572f86..96f84c0c73 100644
--- a/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/ui/MoGoWarningFragment.kt
+++ b/modules/mogo-module-hmi/src/main/java/com/mogo/module/hmi/ui/MoGoWarningFragment.kt
@@ -8,7 +8,7 @@ import android.view.WindowManager
 import android.view.animation.OvershootInterpolator
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.voice.AIAssist
-import com.mogo.module.common.enum.WarningTypeEnum
+import com.mogo.module.common.enums.WarningTypeEnum
 import com.mogo.module.hmi.R
 import com.mogo.module.hmi.notification.WarningFloat
 import com.mogo.module.hmi.notification.anim.DefaultAnimator
diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
index ea8fa589f0..53b1c55f23 100644
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/MogoPrivateObuManager.kt
@@ -2,9 +2,9 @@ package com.mogo.module.obu.mogo
 
 import android.content.Context
 import com.alibaba.android.arouter.launcher.ARouter
-import com.mogo.module.common.enum.WarningTypeEnum
-import com.mogo.module.obu.mogo.map.ObuRecognizedResultDrawer
-import com.mogo.module.obu.mogo.map.ObuVulnerableGroupsDrawer
+import com.mogo.module.common.drawer.TrafficMarkerDrawer
+import com.mogo.module.common.enums.WarningTypeEnum
+import com.mogo.module.obu.mogo.utils.TrafficDataConvertUtils
 import com.mogo.service.IMogoServiceApis
 import com.mogo.service.MogoServicePaths
 import com.mogo.service.warning.IMoGoWaringProvider
@@ -34,11 +34,6 @@ class MogoPrivateObuManager private constructor() {
     val icw_data =
         "02000114010000000000001effd7892b11a4440af70100142a03000907e506100e2917019000005662010a45000b0000220847162c000037970010000a17f6215c459478b6010347ac045000090a0006012c01f4009600080073007300730073000b000000000000000000000000000000002b000037780000247300003261000000000000426c827f47001200100000000000000000000021220000349a006c0010000a17f63ecb45947ba301030000332c0010000a17f642e945947bea010300004d580010000a17f6435545947e4e0103000054c40010000a17f6413a45947f96010300005c300010000a17f62c2845947d140103000070e40010000a17f5fdb14594786001030000992000060004ffec2710"
 
-    // Obu 识别他车绘制
-    private var mObuRecognizedResultDrawer: ObuRecognizedResultDrawer? = null
-
-    // Obu 弱势群体预警绘制
-    private var mObuVulnerableGroupsDrawer: ObuVulnerableGroupsDrawer? = null
     private var mContext: Context? = null
 
     fun init(context: Context?) {
@@ -50,9 +45,6 @@ class MogoPrivateObuManager private constructor() {
         // 获取预警模块的接口
         mIMoGoWaringProvider = mMogoServiceApis!!.waringProviderApi
 
-        mObuRecognizedResultDrawer = ObuRecognizedResultDrawer()
-        mObuVulnerableGroupsDrawer = ObuVulnerableGroupsDrawer()
-
         //自研obu
         MogoObuManager.getInstance().connect(context, "192.168.1.199")
         MogoObuManager.getInstance().registerListener(mogoObuListener)
@@ -118,8 +110,10 @@ class MogoPrivateObuManager private constructor() {
         override fun onCvxRvInfoIndInfo(info: CvxRvInfoIndInfo) {
             Logger.d(MogoObuConst.TAG_MOGO_OBU, "onCvxRvInfoIndInfo ------> $info")
             mContext?.let { SharedPrefsMgr.getInstance(it).putBoolean("OBU_RV", true) }
-            // 更新周边车辆
-            mObuRecognizedResultDrawer?.addCvxRvInfoIndInfo(info)
+            // 更新数据
+            TrafficDataConvertUtils.cvxRvInfoIndInfo2TrafficData(info)?.let {
+                TrafficMarkerDrawer.updateITrafficInfo(it)
+            }
         }
 
         // 道路事件预警信息：CVX_RTI_THREAT_IND 车与其他，obu与rsu
@@ -203,15 +197,21 @@ class MogoPrivateObuManager private constructor() {
                 when (info.status) {
                     // 添加
                     ObuConstants.STATUS.ADD -> {
-                        mObuVulnerableGroupsDrawer?.addCvxRvInfoIndInfo(info)
+                        // 更新数据
+                        TrafficDataConvertUtils.cvxPtcInfoIndInfo2TrafficData(info)?.let {
+                            TrafficMarkerDrawer.updateITrafficInfo(it)
+                        }
                     }
                     // 删除
                     ObuConstants.STATUS.DELETE -> {
-                        mObuVulnerableGroupsDrawer?.removeCvxPtcInfoIndInfo(info.id)
+                        TrafficMarkerDrawer.removeCvxRvInfoIndInfo(info.id)
                     }
                     // 更新
                     else -> {
-                        mObuVulnerableGroupsDrawer?.updateCvxPtcInfoIndInfo(info)
+                        // 更新数据
+                        TrafficDataConvertUtils.cvxPtcInfoIndInfo2TrafficData(info)?.let {
+                            TrafficMarkerDrawer.updateITrafficInfo(it)
+                        }
                     }
                 }
             }
@@ -339,7 +339,7 @@ class MogoPrivateObuManager private constructor() {
      *
      * @param appId    使用WarningTypeEnum获取icon、提示内容、tts内容
      *
-     * @see com.mogo.module.common.enum.WarningTypeEnum
+     * @see com.mogo.module.common.enums.WarningTypeEnum
      */
     private fun handleSdkObu(
         appId: Int,
@@ -466,19 +466,23 @@ class MogoPrivateObuManager private constructor() {
                     appId.toString()
                 )
                 //更新周边车辆进行预警颜色变换，车辆实时移动和变色
-                mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(level, info)
+                TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
+                    TrafficMarkerDrawer.updateITrafficInfo(it)
+                }
             }
             // 删除
             ObuConstants.STATUS.DELETE -> {
                 // 移除顶部弹窗
                 mIMoGoWaringProvider?.disableWarningV2X(appId.toString())
                 // 移除地图元素
-                mObuRecognizedResultDrawer?.removeCvxRvInfoIndInfo(info.vehicle_id)
+                TrafficMarkerDrawer.removeCvxRvInfoIndInfo(info.vehicle_id)
             }
             // 更新
             else -> {
                 //更新周边车辆进行预警颜色变换，车辆实时移动和变色
-                mObuRecognizedResultDrawer?.updateCvxRvInfoIndInfo(level, info)
+                TrafficDataConvertUtils.cvxV2vThreatIndInfo2TrafficData(info)?.let {
+                    TrafficMarkerDrawer.updateITrafficInfo(it)
+                }
             }
         }
     }
diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/utils/TrafficDataConvertUtils.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/utils/TrafficDataConvertUtils.kt
new file mode 100644
index 0000000000..d3123e2b0c
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/utils/TrafficDataConvertUtils.kt
@@ -0,0 +1,97 @@
+package com.mogo.module.obu.mogo.utils
+
+import com.mogo.module.common.drawer.bean.TrafficData
+import com.mogo.module.common.enums.TrafficTypeEnum
+import com.zhidao.support.obu.model.CvxPtcInfoIndInfo
+import com.zhidao.support.obu.model.CvxRvInfoIndInfo
+import com.zhidao.support.obu.model.CvxV2vThreatIndInfo
+
+/**
+ * @author xiaoyuzhou
+ * @date 2021/8/18 2:30 下午
+ */
+object TrafficDataConvertUtils {
+
+    /**
+     * OBU 远车 转换交通元素数据
+     */
+    fun cvxRvInfoIndInfo2TrafficData(info: CvxRvInfoIndInfo): TrafficData? {
+        if (info.basic_info == null || info.basic_info.position == null || info.threat_infos != null) {
+            return null
+        }
+        val trafficData = TrafficData()
+        trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
+        trafficData.uuid = info.vehicle_id
+        trafficData.lat = info.basic_info.position.latitude
+        trafficData.lon = info.basic_info.position.longitude
+        trafficData.heading = info.basic_info.heading
+        trafficData.speed = info.basic_info.speed
+
+        // 判断车辆V2X预警级别，调整车辆颜色
+        if (!info.threat_infos.isNullOrEmpty()) {
+            trafficData.threatLevel = info.threat_infos.first().threat_level
+        }
+
+        return trafficData
+    }
+
+    /**
+     * OBU 预警事件 转换交通元素数据
+     */
+    fun cvxV2vThreatIndInfo2TrafficData(info: CvxV2vThreatIndInfo): TrafficData? {
+        if (info.basic_info == null || info.basic_info.position == null || info.threat_info == null) {
+            return null
+        }
+        val trafficData = TrafficData()
+        trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE
+        trafficData.uuid = info.vehicle_id
+        trafficData.lat = info.basic_info.position.latitude
+        trafficData.lon = info.basic_info.position.longitude
+        trafficData.heading = info.basic_info.heading
+        trafficData.speed = info.basic_info.speed
+        // 判断车辆V2X预警级别，调整车辆颜色
+        trafficData.threatLevel = info.threat_info.threat_level
+
+        return trafficData
+    }
+
+    /**
+     * OBU 弱势交通参与者信息 转换交通元素数据
+     */
+    fun cvxPtcInfoIndInfo2TrafficData(info: CvxPtcInfoIndInfo): TrafficData? {
+        if (info.basic_info == null || info.basic_info.position == null || info.threat_infos != null) {
+            return null
+        }
+        val trafficData = TrafficData()
+
+        trafficData.uuid = info.id
+        trafficData.lat = info.basic_info.position.latitude
+        trafficData.lon = info.basic_info.position.longitude
+        trafficData.heading = info.basic_info.heading
+        trafficData.speed = info.basic_info.speed
+
+        when (info.ptc_type) {
+            // 未知
+            0x0 -> {
+                trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI
+            }
+            // 非机动车
+            0x1 -> {
+                trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_BICYCLE
+            }
+            // 行人
+            0x2 -> {
+                trafficData.type = TrafficTypeEnum.TYPE_TRAFFIC_ID_PEOPLE
+            }
+        }
+
+        // 判断车辆V2X预警级别，调整车辆颜色
+        if (!info.threat_infos.isNullOrEmpty()) {
+            trafficData.threatLevel = info.threat_infos.first().threat_level
+        }
+
+        return trafficData
+    }
+
+
+}
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