diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
index 5cbcfe9eb0..5707d90fbf 100644
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuRecognizedResultDrawer.kt
@@ -21,7 +21,7 @@ import java.util.concurrent.ConcurrentHashMap
  * @author xiaoyuzhou
  * @date 2021/8/9 11:08 上午
  */
-class ObuRecognizedResultDrawer() {
+class ObuRecognizedResultDrawer {
 
     private val TAG = "ObuRecognizedResultDrawer"
 
@@ -116,7 +116,6 @@ class ObuRecognizedResultDrawer() {
                     cvxRvInfoIndInfo.threat_infos = threatInfos
                 }
 
-
                 mCvxRvInfoIndInfoMap[cvxV2vThreatIndInfo.vehicle_id] = cvxRvInfoIndInfo
             }
     }
@@ -189,53 +188,56 @@ class ObuRecognizedResultDrawer() {
     /**
      * 绘制单条
      */
-    private fun drawObuRecognizedDataMarker(cvxRvInfoIndInfo: CvxRvInfoIndInfo): IMogoMarker {
-        val resId: Int = R.raw.tachexiaoche
-        val resIdVal = resId.toString() + ""
+    private fun drawObuRecognizedDataMarker(cvxRvInfoIndInfo: CvxRvInfoIndInfo) {
+        if (cvxRvInfoIndInfo.basic_info != null && cvxRvInfoIndInfo.basic_info.position != null) {
+            val resId: Int = R.raw.tachexiaoche
+            val resIdVal = resId.toString() + ""
 
-        val options = MogoMarkerOptions()
-            .owner(DataTypes.TYPE_MARKER_ADAS)
-            .anchor(0.5f, 0.5f)
-            .set3DMode(true)
-            .gps(true)
-            .controlAngle(true)
-            .resName(mMarkerCachesResMd5Values[resIdVal])
-            .icon3DRes(resId)
-            .rotate(if (cvxRvInfoIndInfo.basic_info != null) cvxRvInfoIndInfo.basic_info.heading.toFloat() else 0f)
-            .position(
-                MogoLatLng(
-                    if (cvxRvInfoIndInfo.basic_info != null && cvxRvInfoIndInfo.basic_info.position != null) cvxRvInfoIndInfo.basic_info.position.latitude else 0.0,
-                        if (cvxRvInfoIndInfo.basic_info != null && cvxRvInfoIndInfo.basic_info.position != null) cvxRvInfoIndInfo.basic_info.position.longitude else 0.0
+            val options = MogoMarkerOptions()
+                .owner(DataTypes.TYPE_MARKER_ADAS)
+                .anchor(0.5f, 0.5f)
+                .set3DMode(true)
+                .gps(true)
+                .controlAngle(true)
+                .resName(mMarkerCachesResMd5Values[resIdVal])
+                .icon3DRes(resId)
+                .rotate(cvxRvInfoIndInfo.basic_info.heading.toFloat())
+                .position(
+                    MogoLatLng(
+                        cvxRvInfoIndInfo.basic_info.position.latitude,
+                        cvxRvInfoIndInfo.basic_info.position.longitude
+                    )
                 )
-            )
 
-        // 判断车辆V2X预警级别，调整车辆颜色
-        if (!cvxRvInfoIndInfo.threat_infos.isNullOrEmpty() && options != null) {
-            // 修改颜色
-            when (cvxRvInfoIndInfo.threat_infos.first().threat_level) {
-                1 -> {
-                    options.anchorColor("#D8D8D8FF")
-                }
-                2 -> {
-                    options.anchorColor("#FFD53EFF")
-                }
-                3 -> {
-                    options.anchorColor("#FF3C45FF")
-                }
-                else -> {
-                    options.anchorColor("#D8D8D8FF")
+            // 判断车辆V2X预警级别，调整车辆颜色
+            if (!cvxRvInfoIndInfo.threat_infos.isNullOrEmpty() && options != null) {
+                // 修改颜色
+                when (cvxRvInfoIndInfo.threat_infos.first().threat_level) {
+                    1 -> {
+                        options.anchorColor("#D8D8D8FF")
+                    }
+                    2 -> {
+                        options.anchorColor("#FFD53EFF")
+                    }
+                    3 -> {
+                        options.anchorColor("#FF3C45FF")
+                    }
+                    else -> {
+                        options.anchorColor("#D8D8D8FF")
+                    }
                 }
             }
+
+            val marker = MogoApisHandler.getInstance().apis
+                .mapServiceApi
+                .getMarkerManager(mContext)
+                .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
+
+            // 缓存3D资源
+            mMarkerCachesResMd5Values[resIdVal] = marker.markerResName
+            // 缓存数据
+            mMarkersCaches[cvxRvInfoIndInfo.vehicle_id] = marker
         }
-
-        val marker = MogoApisHandler.getInstance().apis.mapServiceApi.getMarkerManager(mContext)
-            .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
-
-        // 缓存3D资源
-        mMarkerCachesResMd5Values[resIdVal] = marker.markerResName
-        // 缓存数据
-        mMarkersCaches[cvxRvInfoIndInfo.vehicle_id] = marker
-        return marker
     }
 
     /**
@@ -244,20 +246,19 @@ class ObuRecognizedResultDrawer() {
     private fun changeDynamicMarker(
         marker: IMogoMarker,
         cvxRvInfoIndInfo: CvxRvInfoIndInfo
-    ): IMogoMarker {
+    ) {
+        if (cvxRvInfoIndInfo.basic_info != null && cvxRvInfoIndInfo.basic_info.position != null) {
+            val renderLoc = MogoLatLng(
+                cvxRvInfoIndInfo.basic_info.position.latitude,
+                cvxRvInfoIndInfo.basic_info.position.longitude
+            )
 
-        val renderLoc = MogoLatLng(
-            cvxRvInfoIndInfo.basic_info.position.latitude,
-            cvxRvInfoIndInfo.basic_info.position.longitude
-        )
-
-        marker.addDynamicAnchorPosition(
-            renderLoc,
-            cvxRvInfoIndInfo.basic_info.heading.toFloat(),
-            stepTime
-        )
-
-        return marker
+            marker.addDynamicAnchorPosition(
+                renderLoc,
+                cvxRvInfoIndInfo.basic_info.heading.toFloat(),
+                stepTime
+            )
+        }
     }
 
 }
\ No newline at end of file
diff --git a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuVulnerableGroupsDrawer.kt b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuVulnerableGroupsDrawer.kt
index 9160e5b98c..8dcb81b024 100644
--- a/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuVulnerableGroupsDrawer.kt
+++ b/modules/mogo-module-obu-mogo/src/main/java/com/mogo/module/obu/mogo/map/ObuVulnerableGroupsDrawer.kt
@@ -95,51 +95,54 @@ class ObuVulnerableGroupsDrawer {
     /**
      * 绘制单条
      */
-    private fun drawObuRecognizedDataMarker(cvxPtcInfoIndInfo: CvxPtcInfoIndInfo): IMogoMarker {
-        var resId: Int = R.raw.people
-        when (cvxPtcInfoIndInfo.ptc_type) {
-            // 未知
-            0x0 -> {
-                resId = R.raw.tache
+    private fun drawObuRecognizedDataMarker(cvxPtcInfoIndInfo: CvxPtcInfoIndInfo) {
+        if ((cvxPtcInfoIndInfo.ptc_type == 0x1 || cvxPtcInfoIndInfo.ptc_type == 0x2) &&
+            (cvxPtcInfoIndInfo.basic_info != null && cvxPtcInfoIndInfo.basic_info.position != null)
+        ) {
+            var resId: Int = R.raw.people
+            when (cvxPtcInfoIndInfo.ptc_type) {
+                // 未知
+                0x0 -> {
+                    resId = R.raw.tache
+                }
+                // 非机动车
+                0x1 -> {
+                    resId = R.raw.motorbike
+                }
+                // 行人
+                0x2 -> {
+                    resId = R.raw.people
+                }
+                // RSU
+                0x3 -> {
+                }
+                else -> {
+                }
             }
-            // 非机动车
-            0x1 -> {
-                resId = R.raw.motorbike
-            }
-            // 行人
-            0x2 -> {
-                resId = R.raw.people
-            }
-            // RSU
-            0x3 -> {
-            }
-            else -> {
-            }
-        }
 
-        val resIdVal = resId.toString() + ""
+            val resIdVal = resId.toString() + ""
 
-        val options = MogoMarkerOptions()
-            .owner(DataTypes.TYPE_MARKER_ADAS)
-            .anchor(0.5f, 0.5f)
-            .set3DMode(true)
-            .gps(true)
-            .controlAngle(true)
-            .resName(mMarkerCachesResMd5Values[resIdVal])
-            .icon3DRes(resId)
-            .rotate(cvxPtcInfoIndInfo.basic_info.heading.toFloat())
-            .position(
-                MogoLatLng(
-                    cvxPtcInfoIndInfo.basic_info.position.latitude,
-                    cvxPtcInfoIndInfo.basic_info.position.longitude
+            val options = MogoMarkerOptions()
+                .owner(DataTypes.TYPE_MARKER_ADAS)
+                .anchor(0.5f, 0.5f)
+                .set3DMode(true)
+                .gps(true)
+                .controlAngle(true)
+                .resName(mMarkerCachesResMd5Values[resIdVal])
+                .icon3DRes(resId)
+                .rotate(cvxPtcInfoIndInfo.basic_info.heading.toFloat())
+                .position(
+                    MogoLatLng(
+                        cvxPtcInfoIndInfo.basic_info.position.latitude,
+                        cvxPtcInfoIndInfo.basic_info.position.longitude
+                    )
                 )
-            )
-        val marker = MogoApisHandler.getInstance().apis.mapServiceApi.getMarkerManager(mContext)
-            .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
+            val marker = MogoApisHandler.getInstance().apis.mapServiceApi.getMarkerManager(mContext)
+                .addMarker(DataTypes.TYPE_MARKER_OBU_DATA, options)
 
-        // 缓存数据
-        mMarkersCaches[cvxPtcInfoIndInfo.id] = marker
-        return marker
+            // 缓存数据
+            mMarkersCaches[cvxPtcInfoIndInfo.id] = marker
+        }
     }
 
     /**
@@ -148,20 +151,21 @@ class ObuVulnerableGroupsDrawer {
     private fun changeDynamicMarker(
         marker: IMogoMarker,
         cvxPtcInfoIndInfo: CvxPtcInfoIndInfo
-    ): IMogoMarker {
+    ) {
+        if ((cvxPtcInfoIndInfo.ptc_type == 0x1 || cvxPtcInfoIndInfo.ptc_type == 0x2) &&
+            (cvxPtcInfoIndInfo.basic_info != null && cvxPtcInfoIndInfo.basic_info.position != null)
+        ) {
+            val renderLoc = MogoLatLng(
+                cvxPtcInfoIndInfo.basic_info.position.latitude,
+                cvxPtcInfoIndInfo.basic_info.position.longitude
+            )
 
-        val renderLoc = MogoLatLng(
-            cvxPtcInfoIndInfo.basic_info.position.latitude,
-            cvxPtcInfoIndInfo.basic_info.position.longitude
-        )
-
-        marker.addDynamicAnchorPosition(
-            renderLoc,
-            cvxPtcInfoIndInfo.basic_info.heading.toFloat(),
-            stepTime
-        )
-
-        return marker
+            marker.addDynamicAnchorPosition(
+                renderLoc,
+                cvxPtcInfoIndInfo.basic_info.heading.toFloat(),
+                stepTime
+            )
+        }
     }