diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java
index ffc2ec230b..2fdd7b412f 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/alarm/V2XAlarmServer.java
@@ -35,6 +35,7 @@ import com.mogo.utils.network.utils.GsonUtil;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.HashSet;
+import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.CopyOnWriteArrayList;
 
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
@@ -51,7 +52,7 @@ import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
  */
 public class V2XAlarmServer {
     // 记录道路播报的事件
-    private static HashMap<V2XRoadEventEntity, String> mAlertRoadEventList = new HashMap<>();
+    public static ConcurrentHashMap<V2XRoadEventEntity, String> mAlertRoadEventList = new ConcurrentHashMap<>();
 
     // 记录违章停车播报事件
     private static HashMap<MarkerExploreWay, String> mAlertIllegalParkEventList = new HashMap<>();
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401012.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401012.java
index b9f92b387b..38b9fab0a3 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401012.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_401012.java
@@ -14,6 +14,8 @@ import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.service.Utils;
 import com.mogo.module.v2x.V2XConst;
 import com.mogo.module.v2x.V2XServiceManager;
+import com.mogo.module.v2x.alarm.V2XAlarmServer;
+import com.mogo.module.v2x.utils.TimeUtils;
 import com.mogo.module.v2x.utils.V2XUtils;
 import com.mogo.service.connection.IMogoOnMessageListener;
 import com.mogo.utils.logger.Logger;
@@ -39,35 +41,42 @@ public class V2XMessageListener_401012 implements IMogoOnMessageListener<MarkerC
     public void onMsgReceived(MarkerCardResult response) {
         Logger.d(MODULE_NAME, "V2XMessageListener_401012==V2X服务端下发：\n"
                 + GsonUtil.jsonFromObject(response));
-        if (response.getExploreWay() != null && response.getExploreWay().size() > 0) {
-            MarkerExploreWay markerExploreWay = response.getExploreWay().get(0);
-            MarkerLocation markerLocation = markerExploreWay.getLocation();
-            // 记录道路事件
-            V2XRoadEventEntity v2XRoadEventEntity = new V2XRoadEventEntity();
-            v2XRoadEventEntity.setLocation(markerLocation);
-            // 探路目前只有上报拥堵
-            v2XRoadEventEntity.setPoiType(markerExploreWay.getPoiType());
-            // 当前车辆数据
-            MogoLocation currentLocation = V2XServiceManager.getV2XStatusManager().getLocation();
-            float calculateDistance = Utils.calculateLineDistance(
-                    new MogoLatLng(markerLocation.getLat(), markerLocation.getLon()),
-                    new MogoLatLng(currentLocation.getLatitude(), currentLocation.getLongitude())
-            );
-            v2XRoadEventEntity.setDistance(calculateDistance);
-            v2XRoadEventEntity.setNoveltyInfo(markerExploreWay);
-            v2XRoadEventEntity.setExpireTime(20000);
+        try {
+            if (response.getExploreWay() != null && response.getExploreWay().size() > 0) {
+                MarkerExploreWay markerExploreWay = response.getExploreWay().get(0);
+                MarkerLocation markerLocation = markerExploreWay.getLocation();
+                // 记录道路事件
+                V2XRoadEventEntity v2XRoadEventEntity = new V2XRoadEventEntity();
+                v2XRoadEventEntity.setLocation(markerLocation);
+                // 探路目前只有上报拥堵
+                v2XRoadEventEntity.setPoiType(markerExploreWay.getPoiType());
+                // 当前车辆数据
+                MogoLocation currentLocation = V2XServiceManager.getV2XStatusManager().getLocation();
+                float calculateDistance = Utils.calculateLineDistance(
+                        new MogoLatLng(markerLocation.getLat(), markerLocation.getLon()),
+                        new MogoLatLng(currentLocation.getLatitude(), currentLocation.getLongitude())
+                );
+                v2XRoadEventEntity.setDistance(calculateDistance);
+                v2XRoadEventEntity.setNoveltyInfo(markerExploreWay);
+                v2XRoadEventEntity.setExpireTime(20000);
 
-            V2XMessageEntity<V2XRoadEventEntity> v2xMessageEntity = new V2XMessageEntity<>();
-            // 控制类型
-            v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING);
-            // 设置数据
-            v2xMessageEntity.setContent(v2XRoadEventEntity);
-            // 控制展示状态
-            v2xMessageEntity.setShowState(true);
+                // 记录播报过的道路事件
+                V2XAlarmServer.mAlertRoadEventList.put(v2XRoadEventEntity, TimeUtils.getNowString());
 
-            Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
-            intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
-            LocalBroadcastManager.getInstance(V2XUtils.getApp()).sendBroadcast(intent);
+                V2XMessageEntity<V2XRoadEventEntity> v2xMessageEntity = new V2XMessageEntity<>();
+                // 控制类型
+                v2xMessageEntity.setType(V2XMessageEntity.V2XTypeEnum.ALERT_ROAD_WARNING);
+                // 设置数据
+                v2xMessageEntity.setContent(v2XRoadEventEntity);
+                // 控制展示状态
+                v2xMessageEntity.setShowState(true);
+
+                Intent intent = new Intent(V2XConst.BROADCAST_SCENE_HANDLER_ACTION);
+                intent.putExtra(V2XConst.BROADCAST_SCENE_EXTRA_KEY, v2xMessageEntity);
+                LocalBroadcastManager.getInstance(V2XUtils.getApp()).sendBroadcast(intent);
+            }
+        } catch (Exception e) {
+            e.printStackTrace();
         }
     }
 
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/park/V2XIllegalParkScenario.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/park/V2XIllegalParkScenario.java
index 9bd5603dbe..2e9c1b008b 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/park/V2XIllegalParkScenario.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/scenario/scene/park/V2XIllegalParkScenario.java
@@ -3,12 +3,14 @@ package com.mogo.module.v2x.scenario.scene.park;
 import androidx.annotation.Nullable;
 
 import com.mogo.module.common.entity.MarkerExploreWay;
+import com.mogo.module.common.entity.V2XMessageEntity;
+import com.mogo.module.common.entity.V2XPoiTypeEnum;
+import com.mogo.module.common.entity.V2XRoadEventEntity;
 import com.mogo.module.v2x.V2XServiceManager;
 import com.mogo.module.v2x.V2XStatusManager;
 import com.mogo.module.v2x.alarm.V2XAlarmServer;
-import com.mogo.module.common.entity.V2XMessageEntity;
-import com.mogo.module.common.entity.V2XPoiTypeEnum;
 import com.mogo.module.v2x.scenario.impl.AbsV2XScenario;
+import com.mogo.module.v2x.utils.ADASUtils;
 import com.mogo.module.v2x.utils.TrackUtils;
 
 import java.util.ArrayList;
@@ -67,14 +69,20 @@ public class V2XIllegalParkScenario extends AbsV2XScenario<List<MarkerExploreWay
             //弹框
             // 设置要展开的违章停车事件
             //((V2XIllegalParkMarker) mV2XMarker).setOpenPoiId(markerExploreWay.getInfoId());
+            // 广播给ADAS
+            V2XRoadEventEntity v2XRoadEventEntity = new V2XRoadEventEntity();
+            v2XRoadEventEntity.setAlarmContent("违章停车");
+            v2XRoadEventEntity.setExpireTime(20000);
+            v2XRoadEventEntity.setPoiType(V2XPoiTypeEnum.ALERT_ILLEGAL_PARK);
             if (V2XServiceManager.getMoGoStatusManager().isMainPageLaunched()) {
-                speakTTSVoice(markerExploreWay.getAddr() + "可能被罚违章停车，您可以说，有用或没用来帮助其它车友。", null);
+                v2XRoadEventEntity.setTts(markerExploreWay.getAddr() + "可能被罚违章停车，您可以说，有用或没用来帮助其它车友。");
                 ((V2XIllegalParkWindow) mV2XWindow).show(markerExploreWay, true);
                 TrackUtils.trackV2xRoadShow(markerExploreWay.getInfoId(), V2XPoiTypeEnum.ALERT_ILLEGAL_PARK, "1");
             } else {
-                speakTTSVoice(markerExploreWay.getAddr() + "可能被罚违章停车", null);
+                v2XRoadEventEntity.setTts(markerExploreWay.getAddr() + "可能被罚违章停车");
                 TrackUtils.trackV2xRoadShow(markerExploreWay.getInfoId(), V2XPoiTypeEnum.ALERT_ILLEGAL_PARK, "2");
             }
+            ADASUtils.broadcastToADAS(V2XServiceManager.getContext(), v2XRoadEventEntity);
         }
     }