diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index 9e5df1467e..3040c5cf9b 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -44,6 +44,8 @@ import androidx.recyclerview.widget.RecyclerView;
 import androidx.recyclerview.widget.SimpleItemAnimator;
 
 import com.google.protobuf.TextFormat;
+import com.mogo.support.obu.ObuPenetrate;
+import com.mogo.support.obu.ObuScene;
 import com.mogo.telematic.MogoProtocolMsg;
 import com.mogo.telematic.NSDNettyManager;
 import com.mogo.telematic.client.listener.NettyClientListener;
@@ -185,6 +187,7 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
     private boolean isAutopilotAbility = true;
     private String autopilotAbilityReason;
     private List<SpecialVehicleBean> specialVehicleBeanList;//特种车辆
+    private long errorDataUpdateTime = 0;
 //    @Override
 //    protected void onStart() {
 //        super.onStart();
@@ -1068,6 +1071,26 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
+
+    }
+
+    @Override
+    public void onoObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData) {
+
+    }
+
+    @Override
+    public void onoObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData) {
+
+    }
+
+    @Override
+    public void onoObuRsmWarning(MessagePad.Header header, ObuScene.MapMatchData mapMatchData) {
+
+    }
+
     @Override
     public void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates) {
         FSMFunctionStates base = new FSMFunctionStates(header, functionStates, sdf);
diff --git a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
index d2125c7d7f..ae8549740f 100644
--- a/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
+++ b/app_mogo_magic_ring/src/main/java/com/zhidao/adas/magic/ui/MainActivity.java
@@ -33,6 +33,7 @@ import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 import androidx.recyclerview.widget.SimpleItemAnimator;
 
+import com.mogo.support.obu.ObuScene;
 import com.zhidao.adas.magic.R;
 import com.zhidao.adas.magic.adapter.InfoTitleAdapter;
 import com.zhidao.adas.magic.base.BaseActivity;
@@ -551,6 +552,26 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     }
 
+    @Override
+    public void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData) {
+
+    }
+
+    @Override
+    public void onoObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData) {
+
+    }
+
+    @Override
+    public void onoObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData) {
+
+    }
+
+    @Override
+    public void onoObuRsmWarning(MessagePad.Header header, ObuScene.MapMatchData mapMatchData) {
+
+    }
+
     @Override
     public void onFunctionStates(MessagePad.Header header, FunctionStates.FSMFunctionStates functionStates) {
 
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 f311626dca..9e032eef7e 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
@@ -54,6 +54,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerStartAutopilotFailedLis
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.AdasManager
 import com.zhidao.support.adas.high.OnAdasListener
 import com.zhidao.support.adas.high.bean.AutopilotAbility
@@ -535,6 +536,40 @@ class MoGoAdasListenerImpl : OnAdasListener {
     override fun onObuWarningData(header: MessagePad.Header?, obuWarningData: ObuWarningEvent.ObuWarningData?) {
 
     }
+    /**
+     * OBU 红绿灯预警信息
+     *
+     * @param header          头
+     * @param spatWarningData 数据
+     */
+    override fun onoObuSpatWarning(header: MessagePad.Header?, spatWarningData: ObuScene.SpatWarningData?) {
+    }
+    /**
+     * OBU RSI预警信息
+     *
+     * @param header         头
+     * @param rsiWarningData 数据
+     */
+    override fun onoObuRsiWarning(header: MessagePad.Header?, rsiWarningData: ObuScene.RsiWarningData?) {
+    }
+
+    /**
+     * OBU RSM预警信息
+     *
+     * @param header         头
+     * @param rsmWarningData 数据
+     */
+    override fun onoObuRsmWarning(header: MessagePad.Header?, rsmWarningData: ObuScene.RsmWarningData?) {
+    }
+    /**
+     * OBU 地图匹配结果
+     *
+     * @param header       头
+     * @param mapMatchData 数据
+     */
+    override fun onoObuRsmWarning(header: MessagePad.Header?, mapMatchData: ObuScene.MapMatchData?) {
+    }
+
     /**
      * 重构后的功能状态
      *
diff --git a/libraries/mogo-adas-data/README.md b/libraries/mogo-adas-data/README.md
index dc6dc94f53..72fc06ed07 100644
--- a/libraries/mogo-adas-data/README.md
+++ b/libraries/mogo-adas-data/README.md
@@ -12,4 +12,98 @@
 ~~~
 1. 选中mogo-adas-data
 2. 点击Build> Make Moudle 'MoGoEagleEye.libraries.mogo-adas-data'
+~~~
+
+# 工控机透传OBU V2I PB转换
+***鹰眼自用PB文件放在单独文件夹（personal）目的是为了区分工控机PB还是自用PB***
+|工控机原始PB文件|转换后鹰眼所用PB|
+|:-|:-|
+|obu_warning_event.proto|personal/obu_penetrate.proto、personal/obu_scene.proto|
+|mogo_v2x.proto|personal/obu_base.proto|
+## PB需要转换精度的字段
+**MapMatchData**
+~~~
+obu_scene.proto/MapMatchData/speedMaxLimit      int32 转 double (0.02m/s 转 m/s)
+obu_scene.proto/MapMatchData/speedMinLimit      int32 转 double (0.02m/s 转 m/s)
+~~~
+**SpatLight**
+~~~
+obu_base.proto/SpatLight/countDown              int32 转 double (0.1s 转 s)
+obu_base.proto/SpatLight/suggestMaxSpeed        int32 转 double (0.02m/s 转 m/s)
+obu_base.proto/SpatLight/suggestMinSpeed        int32 转 double (0.02m/s 转 m/s)
+~~~
+**Participant**
+~~~
+obu_base.proto/Participant/latitude             int64 转 double (1e-7° 转 °)
+obu_base.proto/Participant/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/Participant/elevation            int64 转 double (0.1m 转 m)
+obu_base.proto/Participant/speed                int64 转 double (0.02m/s 转 m/s)
+obu_base.proto/Participant/heading              int32 转 double (0.0125° 转 °)
+~~~
+**AccFourAxes**
+~~~
+obu_base.proto/AccFourAxes/accLng               int32 转 double (0.01m/s2 转 m/s2)
+obu_base.proto/AccFourAxes/accLat               int32 转 double (0.01m/s2 转 m/s2)
+obu_base.proto/AccFourAxes/accVert              int32 转 double (0.02G 转 G)
+obu_base.proto/AccFourAxes/accYaw               int32 转 double (0.01°/s 转 °/s)
+~~~
+**VehicleSize**
+~~~
+obu_base.proto/VehicleSize/height               int32 转 int32 (5cm 转 cm)
+~~~
+**V2xWarning**
+~~~
+obu_base.proto/V2xWarning/distance              int32 转 double (0.01m 转 m)
+~~~
+**RsiWarning**
+~~~
+obu_base.proto/RsiWarning/speedMaxLimit         int32 转 double (0.02m/s 转 m/s)
+obu_base.proto/RsiWarning/speedMinLimit         int32 转 double (0.02m/s 转 m/s)
+obu_base.proto/RsiWarning/eventRadius           int32 转 double (0.1m 转 m)
+obu_base.proto/RsiWarning/distance              int32 转 double (0.01m 转 m)
+~~~
+**VerticalLLV**
+~~~
+obu_base.proto/VerticalLLV/present/offset1      int32 转 double (0.1m 转 m)
+obu_base.proto/VerticalLLV/present/offset2      int32 转 double (0.1m 转 m)
+obu_base.proto/VerticalLLV/present/offset3      int32 转 double (0.1m 转 m)
+obu_base.proto/VerticalLLV/present/offset4      int32 转 double (0.1m 转 m)
+obu_base.proto/VerticalLLV/present/offset5      int32 转 double (0.1m 转 m)
+obu_base.proto/VerticalLLV/present/offset6      int32 转 double (0.1m 转 m)
+obu_base.proto/VerticalLLV/present/elevation    int32 转 double (0.1m 转 m)
+~~~
+**PositionLL1**
+~~~
+obu_base.proto/PositionLL1/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLL1/latitude             int64 转 double (1e-7° 转 °)
+~~~
+**PositionLL2**
+~~~
+obu_base.proto/PositionLL2/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLL2/latitude             int64 转 double (1e-7° 转 °)
+~~~
+**PositionLL3**
+~~~
+obu_base.proto/PositionLL3/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLL3/latitude             int64 转 double (1e-7° 转 °)
+~~~
+**PositionLL4**
+~~~
+obu_base.proto/PositionLL4/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLL4/latitude             int64 转 double (1e-7° 转 °)
+~~~
+**PositionLL5**
+~~~
+obu_base.proto/PositionLL5/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLL5/latitude             int64 转 double (1e-7° 转 °)
+~~~
+**PositionLL6**
+~~~
+obu_base.proto/PositionLL6/longitude            int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLL6/latitude             int64 转 double (1e-7° 转 °)
+~~~
+**PositionLatLon**
+~~~
+obu_base.proto/PositionLatLon/longitude         int64 转 double (1e-7° 转 °)
+obu_base.proto/PositionLatLon/latitude          int64 转 double (1e-7° 转 °)
 ~~~
\ No newline at end of file
diff --git a/libraries/mogo-adas-data/src/main/proto/personal/obu_base.proto b/libraries/mogo-adas-data/src/main/proto/personal/obu_base.proto
new file mode 100644
index 0000000000..52174fb80e
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/personal/obu_base.proto
@@ -0,0 +1,167 @@
+syntax = "proto3";
+package com.mogo.support.obu;
+//场景基础数据PB
+
+//垂直方向偏差 目前OBU发送的数据未偏移，使用的是elevation
+message VerticalLLV{
+  oneof present{
+    double offset1 = 1;//海拔，单位(m)
+    double offset2 = 2;//海拔，单位(m)
+    double offset3 = 3;//海拔，单位(m)
+    double offset4 = 4;//海拔，单位(m)
+    double offset5 = 5;//海拔，单位(m)
+    double offset6 = 6;//海拔，单位(m)
+    double elevation = 7;//海拔，单位(m)
+  }
+}
+
+
+
+//////////////////////////////////////////////////////////////////
+//经纬度偏差，来描述一个坐标点的相对位置。约定偏差值等于真实值减去参考值。
+//提供了 7 种尺度的描述方式 目前OBU发送的数据未偏移，使用的是position_LatLon
+message PositionOffset{
+  oneof present{
+    PositionLL1 positionLL1 = 1;
+    PositionLL2 positionLL2 = 2;
+    PositionLL3 positionLL3 = 3;
+    PositionLL4 positionLL4 = 4;
+    PositionLL5 positionLL5 = 5;
+    PositionLL6 positionLL6 = 6;
+    PositionLatLon positionLatLon = 7;
+  }
+}
+message  PositionLL1{
+  //  (-2048..2047)
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+message  PositionLL2{
+  //  (-8192..8191)
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+message  PositionLL3{
+  // (-32768..32767)
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+message  PositionLL4{
+  // (-131072..131071)
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+message  PositionLL5{
+  // (-2097152..2097151)
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+message  PositionLL6{
+  //  (-8388608..8388607)
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+message  PositionLatLon{
+  // 定义经度数值。东经为正，西经为负。
+  //分辨率为1e-7°。
+  double longitude = 1;//经度，单位(°)
+  double latitude = 2;//维度，单位(°)
+}
+//////////////////////////////////////////////////////////////////
+
+//交通标志/事件位置信息
+message PositionLLV{
+  PositionOffset position = 1;//经纬度
+  VerticalLLV vertical = 2;//垂直方向偏差
+}
+
+//交通参与者尺寸信息
+message VehicleSize {
+  int32 width = 1;//宽度，单位(cm)
+  int32 length = 2;//长度，单位(cm)
+  int32 height = 3;//高度，单位(cm)
+}
+
+//四轴加速度
+message AccFourAxes {
+  double  accLng = 1;//纵向加速度，单位(m/s2)
+  double  accLat = 2;//横向加速度，单位(m/s2)
+  double  accVert = 3;//垂直加速度，单位(G)
+  double  accYaw = 4;//横摆角加速度，单位(°/s)
+}
+
+//节点信息
+message NodeId{
+  int32 region = 1;/* 定义地图中划分区域的ID号 */
+  int32 id = 2;    /* 定义地图节点ID */
+}
+
+//灯色信息
+message SpatLight{
+  int32 phaseID = 1;           /* 信号灯相位ID */
+  int32 maneuvers = 2;          /* 允许转向关系，bit0：直行，bit1：左转，bit2：右转，bit3：掉头 */
+  int32 light = 3;              /* 灯色，0：不可用，1：黑色，2：红闪，3：红色，4：绿闪，5：permissive_green，6：protected_green，7：黄色，8：黄闪 */
+  double countDown = 4;        /* 灯色倒计时，单位(s) */
+  double suggestMaxSpeed = 5; /* 建议最大车速，单位(m/s) */
+  double suggestMinSpeed = 6; /* 建议最小车速，单位(m/s) */
+}
+
+//时间
+message DateTime{
+  int32 year = 1;        /* 年份 */
+  int32 month = 2;        /* 月份 */
+  int32 day = 3;          /* 日期 */
+  int32 hour = 4;         /* 小时 */
+  int32 minute = 5;       /* 分钟 */
+  int32 millisecond = 6; /* 毫秒 */
+  int32 offset = 7;       /* 定义与UTC时间的分钟差 */
+}
+
+//预警数据
+message WarningData{
+  int32 unitMask = 1; /* 描述所属字段有效性 */
+  int32 status = 2;            /* 状态信息，0：更新，1：添加，2：删除 */
+  int32 warningType = 3;     /* 预警类型，0：前向碰撞预警，1：交叉路口碰撞预警，2：左转辅助预警，3：盲区预警，4：变道预警，
+    5：逆向超车预警，6：紧急制动预警，7：异常车辆提醒，8：失控车辆预警，9：紧急车辆预警，10：弱势交通参与者碰撞预警 */
+  int32 warningLevel = 4;     /* 预警等级，0：无效，1：DETECTED，2：INFORM，3：WARNING */
+  int32 warningPriority = 5; /* 预警优先级，默认为0，预留 */
+}
+
+//弱势交通参与者预警信息
+message V2xWarning{
+  int32 unitMask = 1; /* 描述所属字段有效性 */
+  repeated WarningData warningData = 2;
+  DateTime warningTime = 3; /* 预警触发时间 */
+  double distance = 4;      /* 预警触发时与自车之间的距离，单位(m)  */
+}
+
+//弱势交通参与者信息
+message Participant{
+  int32 ptcType = 1;         /* 交通参与者类型，0：未知，1：机动车，2：非机动车，3：行人，4：OBU自身 */
+  int32 ptcId = 2;           /* 临时ID，取值范围(1..255) */
+  int32 source = 3;            /* 监测信息来源，0：未知，1：RSU自身，2：V2X广播，3：视频传感器，4：微波雷达，5：地磁线圈传感器，6：激光雷达传感器，7：两类或以上感知数据融合 */
+  int64 secMark = 4;         /* UTC时间，单位(ms) */
+  double latitude = 5;          /* 维度，单位(°) */
+  double longitude = 6;         /* 经度，单位(°) */
+  double elevation = 7;         /* 海拔，单位(m) */
+  double speed = 8;             /* 速度，单位(m/s) */
+  double heading = 9;          /* 航向角，单位(°) */
+  AccFourAxes accFourAxes = 10; /* 四轴加速度 */
+  VehicleSize ptcSize = 11;          /* 交通参与者尺寸信息 */
+  int32 vehicleClass = 12;     /* 车辆类型，参考《OBU软件SDK使用文档》附录A中的表1 */
+  int32 targetPosition = 13;   /* 目标方位，参考mg_veh_target_position_t */
+}
+
+message RsiWarning {
+  int32 unitMask = 1;        /* 描述所属字段有效性 */
+  int32 sceneType = 2;        /* 预警类型，0：无效，1：限速信息，2：道路危险，3：车内标牌，4：前方拥堵 */
+  PositionLLV position = 3;       /* 交通标志/事件位置信息 */
+  int32 signSerialNum = 4;  /* 交通标志类型序号，根据预警类型匹配，0：无效，参照国标《GB 5768.2-2009中“交通标志中文名称索引》表序号 */
+  int32 eventSerialNum = 5; /* 交通事件类型序号，根据预警类型匹配，0：无效，参考国标《GB/T 29100-2012》中定义的事件分类代码 */
+  double speedMaxLimit = 6;  /* 建议最大车速，单位(0.02m/s) */
+  double speedMinLimit = 7;  /* 建议最小车速，单位(0.02m/s) */
+  double eventRadius = 8;     /* 交通事件触发半径，根据预警类型匹配，0：无效，单位(0.1m) */
+  int32 warningLevel = 9;     /* 预警等级，0：无效，1：DETECTED，2：INFORM，3：WARNING */
+  int32 targetPosition = 10;   /* 目标方位，参考mg_rti_target_position_t */
+  double distance = 11;          /* 预警触发时与自车之间的距离，单位(0.01m) */
+}
\ No newline at end of file
diff --git a/libraries/mogo-adas-data/src/main/proto/personal/obu_penetrate.proto b/libraries/mogo-adas-data/src/main/proto/personal/obu_penetrate.proto
new file mode 100644
index 0000000000..1745f69063
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/personal/obu_penetrate.proto
@@ -0,0 +1,15 @@
+syntax = "proto3";
+package com.mogo.support.obu;
+
+import "header.proto";
+import "personal/obu_scene.proto";
+
+//工控机透传PB
+message PenetrateWarningData{
+  common.Header header = 1;
+  int32 msgDataType = 2; /*1:rsiEvent; 2:rsmEvent; 3:spatEvent; 4:mapMatchData*/
+  RsiWarningData rsiEvent = 3;
+  RsmWarningData rsmEvent = 4;
+  SpatWarningData spatEvent = 5;
+  MapMatchData mapMatchData = 6;
+}
diff --git a/libraries/mogo-adas-data/src/main/proto/personal/obu_scene.proto b/libraries/mogo-adas-data/src/main/proto/personal/obu_scene.proto
new file mode 100644
index 0000000000..feb76afbc0
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/personal/obu_scene.proto
@@ -0,0 +1,36 @@
+syntax = "proto3";
+package com.mogo.support.obu;
+
+import "personal/obu_base.proto";
+//场景PB 目前只有V2I（Rsi、Rsm、Spat、Map）相关场景，后期会添加V2V相关场景
+
+//预警事件 RSI Warning event
+message RsiWarningData {
+  int32 status = 1;          /* 状态信息，0：更新，1：添加，2：删除 */
+  //int32 warning_num = 2;     /* 预警信息数量 */
+  repeated RsiWarning warningMsg = 2; /* 预警信息集合 */
+}
+
+//RSM Warning Msg
+message RsmWarningData{
+  int32 status = 1;         /* 状态信息，0：更新，1：添加，2：删除 */
+  Participant participant = 2; /* 弱势交通参与者信息 */
+  V2xWarning warningMsg = 3; /* 弱势交通参与者预警信息 */
+}
+
+//SPAT Msg
+message SpatWarningData{
+  int32 status = 1;       /* 状态信息，0：更新，1：添加，2：删除 */
+  int32 warningType = 2; /* 预警类型信息 */
+  repeated SpatLight lights = 3;    /* 灯色信息集合 */
+}
+
+message MapMatchData{
+  int32 status = 1;/* 状态信息，0：更新，1：添加，2：删除 */
+  int32 unitMask = 2;/* 描述所属字段有效性 */
+  NodeId currentNodeID = 3;/* 前方节点信息 */
+  NodeId upstreamNodeID = 4;/* 上游节点信息 */
+  int32 matchingLaneID = 5;/* 匹配车道ID，0：无效 */
+  double speedMaxLimit = 6;/* 建议最大车速，单位(m/s) */
+  double speedMinLimit = 7;/* 建议最小车速，单位(m/s) */
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index cc41289c5a..c53588b041 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -205,6 +205,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeTrajectory, new DispatchHandler(MessagePad.MessageType.MsgTypeTrajectory, this));
         //障碍物信息
         dispatchHandlers.put(MessagePad.MessageType.MsgTypeTrackedObjects, new DispatchHandler(MessagePad.MessageType.MsgTypeTrackedObjects, this));
+        //透传OBU V2I事件(OBU通过UDP发送数据如果多场景同时出发，接收频率太高。工控机只是透传未做任何频率限制)
+        dispatchHandlers.put(MessagePad.MessageType.MsgTypeObuWarningData, new DispatchHandler(MessagePad.MessageType.MsgTypeObuWarningData, this));
+
         //惯导信息
 //        dispatchHandlers.put(MessagePad.MessageType.MsgTypeGnssInfo, new DispatchHandler(MessagePad.MessageType.MsgTypeGnssInfo, this));
         //底盘信息
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index e309aab7f8..dae63233cd 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -1,5 +1,6 @@
 package com.zhidao.support.adas.high;
 
+import com.mogo.support.obu.ObuScene;
 import com.zhidao.support.adas.high.bean.AutopilotAbility;
 import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 import com.zhidao.support.adas.high.common.ProtocolStatus;
@@ -203,6 +204,38 @@ public interface OnAdasListener {
      */
     void onObuWarningData(MessagePad.Header header, ObuWarningEvent.ObuWarningData obuWarningData);
 
+    /**
+     * OBU 红绿灯预警信息
+     *
+     * @param header          头
+     * @param spatWarningData 数据
+     */
+    void onoObuSpatWarning(MessagePad.Header header, ObuScene.SpatWarningData spatWarningData);
+
+    /**
+     * OBU RSI预警信息
+     *
+     * @param header         头
+     * @param rsiWarningData 数据
+     */
+    void onoObuRsiWarning(MessagePad.Header header, ObuScene.RsiWarningData rsiWarningData);
+
+    /**
+     * OBU RSM预警信息
+     *
+     * @param header         头
+     * @param rsmWarningData 数据
+     */
+    void onoObuRsmWarning(MessagePad.Header header, ObuScene.RsmWarningData rsmWarningData);
+
+    /**
+     * OBU 地图匹配结果
+     *
+     * @param header       头
+     * @param mapMatchData 数据
+     */
+    void onoObuRsmWarning(MessagePad.Header header, ObuScene.MapMatchData mapMatchData);
+
     /**
      * 重构后的功能状态
      *
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
index 98075ce004..e07f3d0f2e 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ObuWarningDataMessage.java
@@ -1,8 +1,10 @@
 package com.zhidao.support.adas.high.msg;
 
 import android.os.SystemClock;
+import android.util.Log;
 
 import com.google.protobuf.InvalidProtocolBufferException;
+import com.google.protobuf.UnknownFieldSet;
 import com.zhidao.support.adas.high.AdasChannel;
 import com.zhidao.support.adas.high.OnAdasListener;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
@@ -27,5 +29,30 @@ public class ObuWarningDataMessage extends MyAbstractMessageHandler {
             adasListener.onObuWarningData(raw.getHeader(), obuWarningData);
         }
         AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
+
+
+
+//        ObuPenetrate.WarningData warningData = ObuPenetrate.WarningData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+//        UnknownFieldSet set = warningData.getMapMatchData().getUnknownFields();
+//
+//        Log.i("ddd", "set.getField(7).getVarintList()=" + set.getField(7).getVarintList());
+//        Long a = set.getField(7).getVarintList().get(0);
+//
+//        ObuScene.MapMatchData.Builder MapMatchDataBuilder = warningData.getMapMatchData().toBuilder().setSpeedMinLimit(a * 0.02D);
+//        MapMatchDataBuilder.setUnknownFields(UnknownFieldSet.getDefaultInstance());
+//        ObuPenetrate.WarningData.Builder builder = warningData.toBuilder();
+//        builder.setMapMatchData(MapMatchDataBuilder);
+//        warningData = builder.build();
+////        Log.i("ddd","a="+a);
+//
+//
+//        AdasChannel.calculateTimeConsumingOnDispatchRaw("OBU预警事件", raw.receiveTime);
+//        long nowTime = 0;
+//        if (CupidLogUtils.isEnableLog())
+//            nowTime = SystemClock.elapsedRealtime();
+//        if (adasListener != null) {
+//            adasListener.onObuWarningData(raw.getHeader(), warningData);
+//        }
+//        AdasChannel.calculateTimeConsumingBusiness("OBU预警事件", nowTime);
     }
 }
diff --git a/libraries/mogo-obu/.gitignore b/libraries/mogo-obu/.gitignore
new file mode 100644
index 0000000000..796b96d1c4
--- /dev/null
+++ b/libraries/mogo-obu/.gitignore
@@ -0,0 +1 @@
+/build
diff --git a/libraries/mogo-obu/README.md b/libraries/mogo-obu/README.md
new file mode 100644
index 0000000000..cef2260b99
--- /dev/null
+++ b/libraries/mogo-obu/README.md
@@ -0,0 +1,4 @@
+#### 说明
+# OBU LIB
+## OBU SDK 数据融合
+
diff --git a/libraries/mogo-obu/build.gradle b/libraries/mogo-obu/build.gradle
new file mode 100644
index 0000000000..e3dc611b6f
--- /dev/null
+++ b/libraries/mogo-obu/build.gradle
@@ -0,0 +1,61 @@
+plugins {
+    id 'com.android.library'
+    id 'com.google.protobuf'
+}
+
+android {
+    compileSdkVersion rootProject.ext.android.compileSdkVersion
+
+    defaultConfig {
+        minSdkVersion rootProject.ext.android.minSdkVersion
+        targetSdkVersion rootProject.ext.android.targetSdkVersion
+        versionCode rootProject.versionCode as int
+        versionName rootProject.versionName
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+        consumerProguardFiles 'consumer-rules.pro'
+    }
+
+    buildTypes {
+        release {
+            minifyEnabled false
+            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+        }
+    }
+    sourceSets {
+        main {
+            proto {
+                srcDir 'src/main/proto'
+                include '**/*.proto'
+            }
+        }
+    }
+
+    protobuf {
+        protoc {
+            artifact = rootProject.ext.dependencies.protoc
+        }
+
+        generateProtoTasks {
+            all().each { task ->
+                task.builtins {
+                    remove java
+                }
+                task.builtins {
+                    java {}
+                }
+            }
+        }
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+}
+
+dependencies {
+    api project(':libraries:mogo-adas-data')
+    api rootProject.ext.dependencies.protobuf_java
+    api rootProject.ext.dependencies.protobuf_java_util
+    api rootProject.ext.dependencies.mogoobu
+}
diff --git a/libraries/mogo-obu/consumer-rules.pro b/libraries/mogo-obu/consumer-rules.pro
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/libraries/mogo-obu/gradle.properties b/libraries/mogo-obu/gradle.properties
new file mode 100644
index 0000000000..ed0606233d
--- /dev/null
+++ b/libraries/mogo-obu/gradle.properties
@@ -0,0 +1,3 @@
+GROUP=com.mogo.obu
+POM_ARTIFACT_ID=mogo-obu
+VERSION_CODE=1
\ No newline at end of file
diff --git a/libraries/mogo-obu/proguard-rules.pro b/libraries/mogo-obu/proguard-rules.pro
new file mode 100644
index 0000000000..f1b424510d
--- /dev/null
+++ b/libraries/mogo-obu/proguard-rules.pro
@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+#   http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+#   public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
diff --git a/libraries/mogo-obu/src/main/AndroidManifest.xml b/libraries/mogo-obu/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..6da0edce23
--- /dev/null
+++ b/libraries/mogo-obu/src/main/AndroidManifest.xml
@@ -0,0 +1,4 @@
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    package="com.zhidao.support.obu" >
+
+</manifest>
diff --git a/libraries/mogo-obu/src/main/res/values/strings.xml b/libraries/mogo-obu/src/main/res/values/strings.xml
new file mode 100644
index 0000000000..1be2af6934
--- /dev/null
+++ b/libraries/mogo-obu/src/main/res/values/strings.xml
@@ -0,0 +1,3 @@
+<resources>
+    <string name="app_name">mogo-obu</string>
+</resources>
diff --git a/settings.gradle b/settings.gradle
index c262ab3649..fb3c97db11 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -47,6 +47,7 @@ include ':libraries:mogo-map-api'
 include ':libraries:mogo-map'
 include ':libraries:mogo-adas'
 include ':libraries:mogo-adas-data'
+include ':libraries:mogo-obu'
 
 // 语音
 include ':tts:tts-base'