diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
index 32275156c4..06e629ed24 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
@@ -125,6 +125,15 @@ public class ReceivedAckManager {
                         Iterator<ReceivedAck> iterator = queue.iterator();
                         while (iterator.hasNext()) {
                             ReceivedAck ack = iterator.next();
+                            if (ack == null) {
+                                iterator.remove();
+                                continue;
+                            }
+                            MessageType messageType = ack.getMessageType();
+                            if (messageType == null) {
+                                iterator.remove();
+                                continue;
+                            }
                             long t = ack.getMessageType().timeoutMillis;
                             if (t != 0L && time - ack.getSendTime() > t) {
                                 //超时