diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
index 216188d49c..8cfd2a9710 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/pnc/V2NIdentifyDrawer.kt
@@ -38,8 +38,7 @@ internal object V2NIdentifyDrawer {
             }
             val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
             val filtered = events.filterIsInstance(TrackedObject::class.java).filter { itx ->
-                val diff = DrivingDirectionUtils.getAngleDiff(car.heading, itx.heading)
-                diff < 40 && DrivingDirectionUtils.getDegreeOfCar2Poi(car.longitude, car.latitude, itx.longitude, itx.latitude, car.heading.toInt()) <= 90
+                DrivingDirectionUtils.getDegreeOfCar2Poi(car.longitude, car.latitude, itx.longitude, itx.latitude, car.heading.toInt()) <= 90
             }
             if (filtered.isEmpty()) {
                 return@Callback true
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
index 44ad54851b..9450162a65 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/scenario/scene/airoad/AiRoadMarker.kt
@@ -55,7 +55,7 @@ class AiRoadMarker {
     private val checkExpiredTask = Runnable {
         val poi = this.marker.get()
         val car = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84()
-        if (poi != null && car != null) {
+        if (poi != null) {
             val distance = CoordinateUtils.calculateLineDistance(car.longitude, car.latitude, poi.poi_lon, poi.poi_lat)
             if (distance < 500) {
                 unMarker(poi)