diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
index a4d8606382..6c75c97edd 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/warning/V2XWarningMarker.java
@@ -24,8 +24,9 @@ import com.mogo.map.marker.IMogoMarkerManager;
 import com.mogo.map.overlay.IMogoPolyline;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.drawer.V2XWarnDataDrawer;
-import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.module.common.utils.Trigonometric;
+import com.mogo.v2x.data.V2XLocation;
+import com.mogo.v2x.data.V2XWarningTarget;
 
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -39,7 +40,7 @@ import java.util.List;
 public class V2XWarningMarker implements IV2XMarker {
     private static final String TAG = "V2XWarningMarker";
     private static final String WARNING_ARROWS = "WARNING_ARROWS";
-    private V2XWarningEntity mCloundWarningInfo;
+    private V2XWarningTarget mCloundWarningInfo;
     private boolean isSelfLineClear = true;//绘制线是否已被清除
     private final List fillPoints = new ArrayList();//停止线经纬度合集
     private boolean isFirstLocation = false;
@@ -60,7 +61,7 @@ public class V2XWarningMarker implements IV2XMarker {
     public void drawPOI(Object entity) {
         try {
             CallerLogger.INSTANCE.d(M_V2X + TAG, "===drawPOI");
-            mCloundWarningInfo = (V2XWarningEntity) entity;
+            mCloundWarningInfo = (V2XWarningTarget) entity;
             drawLineWithEntity();
 
         } catch (Exception e) {
@@ -109,7 +110,7 @@ public class V2XWarningMarker implements IV2XMarker {
                         warningLocation);
 
                  */
-                V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
+                V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo.getLon(), mCloundWarningInfo.getLat(), mCloundWarningInfo.getType(), mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon(), mCloundWarningInfo.getAngle(), mCloundWarningInfo.getShowTime());
 
                 //添加停止线marker
                 //衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
@@ -133,7 +134,7 @@ public class V2XWarningMarker implements IV2XMarker {
                     CallerLogger.INSTANCE.d(M_V2X + TAG, "数据为空carLocation == null");
                 }
                  */
-                V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo);
+                V2XWarnDataDrawer.getInstance().renderWarnData(mCloundWarningInfo.getLon(), mCloundWarningInfo.getLat(), mCloundWarningInfo.getType(), mCloundWarningInfo.getCollisionLat(), mCloundWarningInfo.getCollisionLon(), mCloundWarningInfo.getAngle(), mCloundWarningInfo.getShowTime());
 
             }, 0);
 
@@ -157,7 +158,7 @@ public class V2XWarningMarker implements IV2XMarker {
      * startLatLng: 划线起点=停止线上的坐标点
      * mogoLatLng: 停止线前方50m坐标点
      * */
-    private void drawRedWarningLineFrontOfStopLine(V2XWarningEntity info, MogoLatLng
+    private void drawRedWarningLineFrontOfStopLine(V2XWarningTarget info, MogoLatLng
             startLatLng, MogoLatLng mogoLatLng) {
         if (info != null) {
             double angle = Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, mogoLatLng.lon, mogoLatLng.lat);
@@ -166,7 +167,7 @@ public class V2XWarningMarker implements IV2XMarker {
             if (stopPolyLineMnager != null) {
                 IMogoPolyline polyLine = stopPolyLineMnager.getMogoStopPolyline();
                 MogoLatLng endLatlng = new MogoLatLng(mogoLatLng.lat, mogoLatLng.lon);
-                MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng, 25, angle);
+                MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatLng.lon, startLatLng.lat, 25, angle);
                 if (polyLine != null) {
                     CallerLogger.INSTANCE.d(M_V2X + TAG, "drawStopLine polyLine != null");
                     polyLine.setPoints(Arrays.asList(startLatLng, addMiddleLoc, endLatlng));
@@ -178,8 +179,8 @@ public class V2XWarningMarker implements IV2XMarker {
                     locations.add(addMiddleLoc);
                     locations.add(endLatlng);
                     lineInfo.setLocations(locations);
-                    lineInfo.setHeading(info.heading);
-                    CallerLogger.INSTANCE.d(M_V2X + TAG, "drawStopLine width = " + info.getRoadwidth());
+                    lineInfo.setHeading(info.getHeading());
+                    CallerLogger.INSTANCE.d(TAG, "drawStopLine width = " + info.getRoadwidth());
                     lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
                     stopPolyLineMnager.drawStopPolyline(BridgeApi.INSTANCE.context(), lineInfo);
                 }
@@ -231,17 +232,17 @@ public class V2XWarningMarker implements IV2XMarker {
             fillPoints.clear();
             List stopLines = mCloundWarningInfo.getStopLines();
             if (stopLines != null && stopLines.size() > 1) {
-                MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
-                MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
+                V2XLocation x = mCloundWarningInfo.getStopLines().get(0);
+                V2XLocation y = mCloundWarningInfo.getStopLines().get(1);
                 //两点间的距离
-                float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
+                float distance = CoordinateUtils.calculateLineDistance(x.getLon(), x.getLat(), y.getLon(), y.getLat());
                 float average = distance / 3;
                 //两点间的角度
-                double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
+                double angle = Trigonometric.getAngle(x.getLon(), x.getLat(), y.getLon(), y.getLat());
                 //根据距离和角度获取下个点的经纬度
                 fillPoints.add(x);
                 for (int i = 1; i < 3; i++) {
-                    MogoLatLng newLocation = Trigonometric.getNewLocation(x, average * i, angle);
+                    MogoLatLng newLocation = Trigonometric.getNewLocation(x.getLon(), x.getLat(), average * i, angle);
                     fillPoints.add(newLocation);
                 }
                 fillPoints.add(y);
@@ -265,12 +266,12 @@ public class V2XWarningMarker implements IV2XMarker {
                     marker.removeMarkers(TYPE_MARKER_CLOUD_STOP_LINE_DATA);
                 }
                 for (int i = 0; i < fillPoints.size(); i++) {
-                    V2XWarningEntity entity = new V2XWarningEntity();
+                    V2XWarningTarget entity = new V2XWarningTarget();
                     MogoLatLng latLng = (MogoLatLng) fillPoints.get(i);
                     entity.setLat(latLng.lat);
                     entity.setLon(latLng.lon);
-                    entity.heading = mCloundWarningInfo.heading;
-                    V2XWarnDataDrawer.getInstance().renderStopLineData(entity);
+                    entity.setHeading(mCloundWarningInfo.getHeading());
+                    V2XWarnDataDrawer.getInstance().renderStopLineData(entity.getLon(), entity.getLat());
                 }
             }
         } catch (Exception e) {
@@ -279,7 +280,7 @@ public class V2XWarningMarker implements IV2XMarker {
     }
 
     private MogoLatLng getMogoLat(MogoLatLng latlng) {
-        MogoLatLng newLocation = Trigonometric.getNewLocation(latlng, mCloundWarningInfo.getStopLineDistance(),
+        MogoLatLng newLocation = Trigonometric.getNewLocation(latlng.lon, latlng.lat, mCloundWarningInfo.getStopLineDistance(),
                 mCloundWarningInfo.getAngle());
         return newLocation;
     }
@@ -293,11 +294,11 @@ public class V2XWarningMarker implements IV2XMarker {
         }
         MogoLatLng newLocation = new MogoLatLng(0, 0);
         if (mCloundWarningInfo != null && mCloundWarningInfo.getStopLines() != null && mCloundWarningInfo.getStopLines().size() > 1) {
-            MogoLatLng x = mCloundWarningInfo.getStopLines().get(0);
-            MogoLatLng y = mCloundWarningInfo.getStopLines().get(1);
-            float distance = CoordinateUtils.calculateLineDistance(x.lon, x.lat, y.lon, y.lat);
-            double angle = Trigonometric.getAngle(x.lon, x.lat, y.lon, y.lat);
-            newLocation = Trigonometric.getNewLocation(x, distance * 0.5, angle);
+            V2XLocation x = mCloundWarningInfo.getStopLines().get(0);
+            V2XLocation y = mCloundWarningInfo.getStopLines().get(1);
+            float distance = CoordinateUtils.calculateLineDistance(x.getLon(), x.getLat(), y.getLat(), y.getLat());
+            double angle = Trigonometric.getAngle(x.getLat(), x.getLat(), y.getLon(), y.getLat());
+            newLocation = Trigonometric.getNewLocation(x.getLon(), x.getLat(), distance * 0.5, angle);
         } else {
             CallerLogger.INSTANCE.d(M_V2X + TAG, "停止线返回坐标点数量不正确" + mCloundWarningInfo.getStopLines().size());
         }
@@ -335,7 +336,7 @@ public class V2XWarningMarker implements IV2XMarker {
                 startLatlng = new MogoLatLng(lat, lon);
                 float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);
                 //扩展点为了渐变色添加
-                addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2,
+                addMiddleLoc = Trigonometric.getNewLocation(startLatlng.getLon(), startLatlng.getLat(), distance / 2,
                         Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));
                 CallerLogger.INSTANCE.d(M_V2X + TAG, "angle==扩展点为了渐变色添加:" +
                         String.valueOf(Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat)));
@@ -368,7 +369,7 @@ public class V2XWarningMarker implements IV2XMarker {
     /**
      * 侧方目标物与预碰撞点连线,并且更新数据 TODO 需要实时给行人当前位置
      */
-    private void drawOtherObjectLine(V2XWarningEntity info) {
+    private void drawOtherObjectLine(V2XWarningTarget info) {
         if (info != null) {
             CallerLogger.INSTANCE.d(M_V2X + TAG, "info != null");
             IMoGoPersonWarnPolylineManager personWarnPolylineManager = BridgeApi.INSTANCE.v2xPersonWarnPolyline();
@@ -379,7 +380,7 @@ public class V2XWarningMarker implements IV2XMarker {
             MogoLatLng startLatlng = new MogoLatLng(info.getLat(), info.getLon());//识别物坐标
             MogoLatLng endLatlng = new MogoLatLng(info.getCollisionLat(), info.getCollisionLon());//预碰撞点坐标
             float distance = CoordinateUtils.calculateLineDistance(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat);//识别物到碰撞点之间的距离
-            MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng, distance / 2,
+            MogoLatLng addMiddleLoc = Trigonometric.getNewLocation(startLatlng.getLon(), startLatlng.getLat(), distance / 2,
                     Trigonometric.getAngle(startLatlng.lon, startLatlng.lat, endLatlng.lon, endLatlng.lat));//补点
             if (polyLine != null) {
                 CallerLogger.INSTANCE.d(M_V2X + TAG, "目标物与碰撞点连线 != null");
@@ -394,7 +395,7 @@ public class V2XWarningMarker implements IV2XMarker {
                 locations.add(addMiddleLoc);
                 locations.add(endLatlng);
                 lineInfo.setLocations(locations);
-                lineInfo.setHeading(info.heading);
+                lineInfo.setHeading(info.getHeading());
                 lineInfo.setWidth(info.getRoadwidth() * 14 + 5);
                 personWarnPolylineManager.drawPersonWarnPolyline(BridgeApi.INSTANCE.context(), lineInfo);
                 CallerLogger.INSTANCE.d(M_V2X + TAG, "目标物与预碰撞点画线点为" + "起点:" + startLatlng + "中间点:" + addMiddleLoc + "终点:" + endLatlng);
@@ -415,7 +416,7 @@ public class V2XWarningMarker implements IV2XMarker {
             int count = (int) (distance / 5);
             for (int i = 0; i < count; i++) {
                 MogoLatLng newLo = Trigonometric.getNewLocation(
-                        startLatLng, 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
+                        startLatLng.getLon(), startLatLng.getLat(), 5 * (i + 1), Trigonometric.getAngle(startLatLng.lon, startLatLng.lat, endLatLng.lon, endLatLng.lat));
                 V2XWarnDataDrawer.getInstance().drawerArrowsMarkerWithLocation(newLo, WARNING_ARROWS, 10, new Double(rotate).intValue());
                 CallerLogger.INSTANCE.d(M_V2X + TAG, "小箭头位置" + newLo);
             }
@@ -428,7 +429,10 @@ public class V2XWarningMarker implements IV2XMarker {
         carLocation = new MogoLatLng(latLng.getLatitude(), latLng.getLongitude());
         if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode() && isSelfLineClear == false) {
             if (mCloundWarningInfo != null) {
-                mCloundWarningInfo.setCarLocation(new MogoLatLng(latLng.getLatitude(), latLng.getLongitude()));
+                V2XLocation v2XLocation = new V2XLocation();
+                v2XLocation.setLat(latLng.getLatitude());
+                v2XLocation.setLon(latLng.getLongitude());
+                mCloundWarningInfo.setCarLocation(v2XLocation);
             }
             //衡阳交付-取消划线需求,只渲染识别物红色模型移动过程
             //drawSelfCarLine(latLng.getLongitude(), latLng.getLatitude(), latLng.getBearing());
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
index c30c8cf2ea..4dcb9fcc65 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/V2XWarnDataDrawer.java
@@ -15,7 +15,6 @@ import com.mogo.module.common.drawer.marker.IMarkerView;
 import com.mogo.module.common.drawer.marker.MapMarkerAdapter;
 import com.mogo.module.common.entity.MarkerLocation;
 import com.mogo.module.common.entity.MarkerShowEntity;
-import com.mogo.module.common.entity.V2XWarningEntity;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
 
@@ -65,21 +64,20 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
     /**
      * 识别物移动
      *
-     * @param data
      */
-    public void renderWarnData(V2XWarningEntity data) {
+    public void renderWarnData(double lon, double lat, int type, double collisionlat, double collisionLon, double angle, long showTime) {
         MarkerLocation location = new MarkerLocation();
-        location.setLat(data.getLat());
-        location.setLon(data.getLon());
-
+        location.setLat(lat);
+        location.setLon(lon);
+        location.setAngle(angle);
         MarkerShowEntity markerShowEntity = new MarkerShowEntity();
         markerShowEntity.setMarkerLocation(location);
         markerShowEntity.setMarkerType(TYPE_MARKER_CLOUD_WARN_DATA);
-        IMogoMarker marker = drawMarker(markerShowEntity, modeResType(data.getType()));
-        marker.addDynamicAnchorPosition(new MogoLatLng(data.getCollisionLat(), data.getCollisionLon()), (float) data.getHeading(), (long) (data.getShowTime() * 1000));
+        IMogoMarker marker = drawMarker(markerShowEntity, modeResType(type));
+//        marker.addDynamicAnchorPosition(new MogoLatLng(collisionlat, collisionLon), (float) heading, showTime * 1000);
         UiThreadHandler.postDelayed(() -> {
             marker.remove();
-        }, data.getShowTime() * 1000);
+        }, showTime * 1000);
 
     }
 
@@ -103,6 +101,8 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
                 .data(markerShowEntity)
                 .latitude(markerShowEntity.getMarkerLocation().getLat())
                 .longitude(markerShowEntity.getMarkerLocation().getLon())
+                .controlAngle(true)
+                .rotate((float) markerShowEntity.getMarkerLocation().getAngle())
                 .setGps(true);
         IMarkerView iMarkerView = MapMarkerAdapter.getMarkerView(mContext, markerShowEntity, options);
         options.icon3DRes(getModelRes(modeResType)); //TODO
@@ -132,12 +132,11 @@ public class V2XWarnDataDrawer extends BaseDrawer implements IMogoStatusChangedL
     /**
      * 绘制停止线 marker
      *
-     * @param data
      */
-    public void renderStopLineData(V2XWarningEntity data) {
+    public void renderStopLineData(double lon, double lat) {
         MarkerLocation location = new MarkerLocation();
-        location.setLat(data.getLat());
-        location.setLon(data.getLon());
+        location.setLat(lat);
+        location.setLon(lon);
 
         MarkerShowEntity markerShowEntity = new MarkerShowEntity();
         markerShowEntity.setMarkerLocation(location);
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
index beb1ef3083..c7d6be65d5 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/utils/Trigonometric.java
@@ -37,10 +37,10 @@ public class Trigonometric {
     /**
      * 根据角度获取指定距离点的经纬度
      */
-    public static MogoLatLng getNewLocation(MogoLatLng st, double distance, double angle) {
-        mRadLo = st.getLon() * Math.PI / 180.;
-        mRadLa = st.getLat() * Math.PI / 180.;
-        Ec = radius_s + (radius_b - radius_s) * (90. - st.lat) / 90;
+    public static MogoLatLng getNewLocation(double lon, double lat, double distance, double angle) {
+        mRadLo = lon * Math.PI / 180.;
+        mRadLa = lat * Math.PI / 180.;
+        Ec = radius_s + (radius_b - radius_s) * (90. - lat) / 90;
         Ed = Ec * Math.cos(mRadLa);
 
         double dx = distance * Math.sin(Math.toRadians(angle));