diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
index 7591dfae10..0d749c3bf4 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/airoad/AiRoadMarker.kt
@@ -58,9 +58,13 @@ object AiRoadMarker {
     }
 
     private val checkExpiredTask = Runnable {
-        val marker = this@AiRoadMarker.marker.get()
-        if (marker != null) {
-            unMarker(marker)
+        val poi = this.marker.get()
+        val car = this.carLocation.get()
+        if (poi != null && car != null) {
+            val distance = DrivingDirectionUtils.distance(car.first, car.second, poi.poi_lon, poi.poi_lat) * 10000
+            if (distance < 500) {
+                unMarker(poi)
+            }
         }
     }
 
@@ -183,12 +187,6 @@ object AiRoadMarker {
             try {
                 val loc = arrayOf(location.longitude, location.latitude)
                 carLocation.set(Triple(loc[0], loc[1], location.bearing.toDouble()))
-//                val marker = marker.get() ?: return
-//                val isOutOfRange = isOutOfRange(marker.poi_lon, marker.poi_lat, carLocation.get().first, carLocation.get().second, carLocation.get().third)
-//                if (isOutOfRange) {
-//                    Logger.d(TAG, "--- onLocationChanged: isOutOfRange --- ")
-//                    unMarker(marker)
-//                }
             } catch (t: Throwable) {
                Logger.e(TAG, "error: ${t.message}")
             }
@@ -326,35 +324,27 @@ object AiRoadMarker {
     fun unMarker(marker: Marker) {
         Logger.d(TAG, "--- unMarker ---")
         markers -= marker
+        this.marker.set(null)
         removeLine()
         V2XAiRoadEventMarker.removeMarkers(null)
         handler.removeCallbacks(checkExpiredTask)
     }
 
-    private fun isOutOfRange(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
-        return !isFrontOfCar(markerLon, markerLat, carLon, carLat, carAngle)
-    }
-
-    private fun isFrontOfCar(markerLon: Double, markerLat: Double, carLon: Double, carLat: Double, carAngle: Double): Boolean {
-        val degree = DrivingDirectionUtils.getDegreeOfCar2Poi2(carLon, carLat, markerLon, markerLat, carAngle)
-        return degree < 90
-    }
-
     fun receive(marker: Marker) {
-        val cur = this.marker.get()
         Logger.d(TAG, "receive --- 1 ---")
-        if (cur == marker) {
-            Logger.d(TAG, "receive --- 2 ---")
-            val poi = this.marker.get()
-            val car = this.carLocation.get()
-            if (poi != null && car != null) {
-                val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
-                Logger.d(TAG, "receive --- 3 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
-                if (distance < 200) {
-                    checkExpired()
-                } else {
-                    handler.removeCallbacks(checkExpiredTask)
-                }
+        val poi = this.marker.get()
+        val car = this.carLocation.get()
+        if (poi != null && car != null) {
+            val distance = DrivingDirectionUtils.distance(car.first, car.second, marker.poi_lon, marker.poi_lat) * 10000
+            Logger.d(TAG, "receive --- 2 ---:car:[${car.first}, ${car.second}] -> poi:[${marker.poi_lon}, ${marker.poi_lat}] --> distance:$distance")
+            if (distance < 500) {
+                checkExpired()
+            } else {
+                handler.removeCallbacks(checkExpiredTask)
+            }
+        } else {
+            if (poi != null) {
+                checkExpired()
             }
         }
     }