diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 29a72d9dc7..0a7cc9a940 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -5,7 +5,7 @@
-
diff --git a/modules/mogo-module-obu-mogo/.gitignore b/modules/mogo-module-obu-mogo/.gitignore
new file mode 100644
index 0000000000..42afabfd2a
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/.gitignore
@@ -0,0 +1 @@
+/build
\ No newline at end of file
diff --git a/modules/mogo-module-obu-mogo/README.md b/modules/mogo-module-obu-mogo/README.md
new file mode 100644
index 0000000000..8a72c4d24b
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/README.md
@@ -0,0 +1,226 @@
+#### 说明
+自研OBU感知预警模块,wiki: http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=58209118
+接收OBU回调数据,进行UI呈现及相关业务
+
+
+硬件记录：
+
+经纬度采用：WGS84坐标系
+自车信息：100毫秒回调一次（需要处理断连风险，采用Android系统自身定位信息「可能需要转换下坐标」）
+V2I场景：会有持续性通知，Status。需要有保底的情况进行超时清除事件；
+RV场景：收到即显示，收不到或断链的时候清除；
+多预警场景触发：HV，RV 会采用两个通道，同时触发的时候会采用集合的形式回调，优先级高的在最上面（待验证）
+
+
+
+# OBU Lib
+## 下载
+* 步骤1：添加到项目根目录 build.gradle 中
+```groovy
+allprojects {
+ repositories {
+ maven{
+ url 'http://maven.aliyun.com/nexus/content/groups/public/'}
+ maven {
+ url 'http://nexus.zhidaoauto.com/repository/maven-releases/'
+ }
+ maven {
+ url 'http://nexus.zhidaoauto.com/repository/maven-public/'
+ }
+ ...
+ }
+}
+```
+* 步骤2：添加依赖关系
+```groovy
+dependencies {
+ implementation 'com.zhidao.support.obu:mogoobu:1.0.0.7'
+ ...
+}
+```
+## 初始化
+```java
+MogoObuManager.getInstance().init(Context context);
+```
+## 连接
+```java
+//默认192.168.8.199
+MogoObuManager.getInstance().connect();
+//自定义 IP
+MogoObuManager.getInstance().connect(String ip);
+```
+## 断开连接
+```java
+MogoObuManager.getInstance().disConnect();
+```
+## 注册监听
+```java
+MogoObuManager.getInstance().registerListener(OnMogoObuListener obuListener);
+```
+## 取消注册监听
+```java
+MogoObuManager.getInstance().unregisterListener();
+```
+## OBU监听
+```java
+private OnMogoObuListener listener = new OnMogoObuListener() {
+ @Override
+ public void onConnected() {
+ //OBU连接成功
+ }
+
+ @Override
+ public void onConnectFail(boolean isNeedReconnect) {
+ //OBU连接失败
+ }
+
+ @Override
+ public void onDisconnect() {
+ //OBU断开连接
+ }
+
+ @Override
+ public void onReceiveOriginData(byte[] data) {
+ super.onReceiveOriginData(data);
+ //接收到的原始数据
+ }
+
+ @Override
+ public void onReceiveOriginData(String data) {
+ super.onReceiveOriginData(data);
+ //接收到的原始数据
+ }
+
+ @Override
+ public void onSendData(byte[] bytes) {
+ super.onSendData(bytes);
+ //发送的数据
+ }
+
+ @Override
+ public void onCvxHvCarIndInfo(CvxHvCarIndInfo info) {
+ super.onCvxHvCarIndInfo(info);
+ //主车车辆信息
+ }
+
+ @Override
+ public void onCvxHvInfoIndInfo(CvxHvInfoIndInfo info) {
+ //主车信息
+ }
+
+ @Override
+ public void onCvxRvInfoIndInfo(CvxRvInfoIndInfo info) {
+ //远车信息
+ }
+
+ @Override
+ public void onCvxRoadTrafficInfoIndInfo(CvxRoadTrafficInfoIndInfo info) {
+ super.onCvxRoadTrafficInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxPtcInfoIndInfo(CvxPtcInfoIndInfo info) {
+ super.onCvxPtcInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxMapSpatInfoIndInfo(CvxMapSpatInfoIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxV2vThreatIndInfo(CvxV2vThreatIndInfo info) {
+ //V2V预警信息
+ }
+
+ @Override
+ public void onCvxPtcThreatIndInfo(CvxPtcThreatIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxRtiThreatIndInfo(CvxRtiThreatIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxIvpThreatIndInfo(CvxIvpThreatIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxSlwThreatIndInfo(CvxSlwThreatIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxThreatRankIndInfo(CvxThreatRankIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxAppInitIndInfo(CvxAppInitIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ // CVX系统信息
+ }
+
+ @Override
+ public void onCvxAppErrorIndInfo(CvxAppErrorIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxAppDbgRangeCheckIndInfo(CvxAppDbgRangeCheckIndInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onCvxSetConfigCfm(CvxSetConfigCfmInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ //设置CVX系统的配置确认
+ }
+
+ @Override
+ public void onCvxAppErrorCfmInfo(CvxAppErrorCfmInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ }
+
+ @Override
+ public void onNuImplInfo(NuImplInfo info) {
+ super.onCvxMapSpatInfoIndInfo(info);
+ //异常/错误/未知数据
+ }
+
+
+ };
+```
+
+## 测试数据
+```java
+ //CVX_V2V_THREAT_IND USECASE_ID_ICW 交叉路口碰撞预警
+ String data = "0200003901000000000000000FFAE449D7DCF8228D0000142A03000907E507020C032C012C00000F1B010B50000B00000662470A5700000653";
+ //CVX_V2V_THREAT_IND USECASE_ID_FCW 前向碰撞预警
+ String data = "02000138010000000000001effd7892b11a4440af70100142a02000907e506100e033b0258000006a0010000000b0000146411005a00000c290010000a17f5ea0f45955b1000fd68da01d200090a0006012c01f4009600080032003200320032000b00000000000000000000000000000000190000002300000895000000060000089500000890695a11000000a20010000a17f5eb5a459568ed00fd00001e140010000a17f5eb004595796b00fd000267fa0010000a17f5e9bc45957b9b00fd0002709c0010000a17f5e81945957a9700fd0002786c0010000a17f5e87a4595757300fd000285500010000a17f5e8fd4595649400fd0002a3000010000a17f5e74a459536a400fe0002f6fc0010000a17f5e8ef459525a001000006bb700010000a17f5e92a4595144a01010006d7f400060000448e2710";
+ //CVX_V2V_THREAT_IND USECASE_ID_BSW 盲区预警
+ String data = "020000ba010000000000001effd2b073b490d08b0e0100142a07000907e506100c2b070258fffff364010000000b0000365a22465700003a980010000a17f5e977459491bd01032283012e00090a0006012c01f400960008009d009d009d009d000b0000000000000000000000000000000019fffffffcfffff0acfffffd62fffff17000000f4a699222000000240010000a17f5e8fa45948c230103000037dc0010000a17f5e6a345948a4c0121000259f40006000027101f40";
+ // CVX_V2V_THREAT_IND USECASE_ID_EBW 紧急制动预警
+ String data = "02000126010000000000001EFF58E70F553F9EA4DE0100142A01000907E506120E360500C8000004930322F7000B000008A4118B99000001F00010000A17F595114595DC2500FB02BD027200090A0006012C01F400960008FE76FE76FE76FE76000B0000000000000000000000000000000019FFFFFFB400000687FFFFFFB4000006870000068C01E511000000900010000A17F588164595D9FF00FB000015180010000A17F579234595D8A900FA000101D00010000A17F577844595D67E00FA00010FD60010000A17F578A64595D49400FA00011B8E0010000A17F57E884595D68B00FA00012D900010000A17F5AA0D4595DE5100FC000184AC0010000A17F5BFB04595E08300FC000204040010000A17F5C0EA4595E06A00F5000798EC00060004FFEC2710";
+ //CVX_HV_INFO_IND 自车信息
+ String data = "010100D70000000000000003DF000907E506120E090E01900010000A17F5EF204595EBFF00DB098B028700060000000000000008004E004E004E004E000B000000000000000000000000000000007E0010000A17F5ED014595EA8300DB0000044C0010000A17F5E9914595E5B300DB00000F3C0010000A17F5E82C4595DDE600DB000020D00010000A17F5E88945959A4200E500009A4C0010000A17F5E78945958C6300E50000B8C30010000A17F5E8C8459580A100D40007F51C0010000A17F5E90D459565C900DE000820780006FFFFF07617700000";
+ //CVX_RV_INFO_IND 远车信息
+ String data = "010200E700000000000001FEFF58E70F553F9EA4DE00000907E506120F050B00B50010000A17F587544595D9DE00FA145300DE000600000000000000090A0006012C01F400960008FFC7FFC7FFC7FFC7000B0000000000000000000000000000000019FFFFFD9200000834FFFFFD920000083400000891425F000000005A0010000A17F5871A4595D84500FB000006A40010000A17F588AD4595D6DC00FA0000125C0010000A17F5A3264595DD1000FB000682680010000A17F5EC2E4595E99A00FD000718040010000A17F5EE664595E9F900FD00071D180006FFFFD8F0177000000000000000";
+```
+## 测试方法调用
+```java
+/**
+ * @param data 原始OBU数据流
+ */
+MogoObuManager.getInstance().test(String data);
+
+/**
+ * @param opCode 参数1: OP_CODE
+ * 参数2: 目前只有OP_CODE = ObuConstants.OP_CODE.CVX_V2V_THREAT_IND时有效,OP_CODE为其他值时不需要传入
+ * 当OP_CODE = ObuConstants.OP_CODE.CVX_V2V_THREAT_IND预警时 默认不填紧急制动预警,0:交叉路口碰撞预警,1:前向碰撞预警,2:盲区预警
+ */
+MogoObuManager.getInstance().test(@Define.OpCode int... opCode) {
+```
\ No newline at end of file
diff --git a/modules/mogo-module-obu-mogo/build.gradle b/modules/mogo-module-obu-mogo/build.gradle
new file mode 100644
index 0000000000..e4bce931a0
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/build.gradle
@@ -0,0 +1,50 @@
+plugins {
+ id 'com.android.library'
+ id 'kotlin-android'
+ id 'kotlin-android-extensions'
+ id 'kotlin-kapt'
+ id 'com.alibaba.arouter'
+}
+
+android {
+ compileSdkVersion rootProject.ext.android.compileSdkVersion
+ defaultConfig {
+ minSdkVersion rootProject.ext.android.minSdkVersion
+ targetSdkVersion rootProject.ext.android.targetSdkVersion
+ versionCode Integer.valueOf(VERSION_CODE)
+ versionName getValueFromRootProperties("${project.name.replace("-", "_").toUpperCase()}_VERSION")
+
+ testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
+ consumerProguardFiles 'consumer-rules.pro'
+
+ javaCompileOptions {
+ annotationProcessorOptions {
+ arguments = [AROUTER_MODULE_NAME: project.getName()]
+ }
+ }
+ }
+
+ buildTypes {
+ release {
+ minifyEnabled false
+ proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
+ }
+ }
+ compileOptions {
+ sourceCompatibility JavaVersion.VERSION_1_8
+ targetCompatibility JavaVersion.VERSION_1_8
+ }
+ kotlinOptions {
+ jvmTarget = '1.8'
+ }
+}
+
+dependencies {
+
+ implementation 'androidx.core:core-ktx:1.3.2'
+ implementation 'androidx.appcompat:appcompat:1.2.0'
+ implementation 'com.google.android.material:material:1.3.0'
+ testImplementation 'junit:junit:4.+'
+ androidTestImplementation 'androidx.test.ext:junit:1.1.2'
+ androidTestImplementation 'androidx.test.espresso:espresso-core:3.3.0'
+}
\ No newline at end of file
diff --git a/modules/mogo-module-obu-mogo/consumer-rules.pro b/modules/mogo-module-obu-mogo/consumer-rules.pro
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/modules/mogo-module-obu-mogo/doc/ALPSALPINE CV2X AMI Specification v1.0.7.pdf b/modules/mogo-module-obu-mogo/doc/ALPSALPINE CV2X AMI Specification v1.0.7.pdf
new file mode 100644
index 0000000000..02f9d525b3
Binary files /dev/null and b/modules/mogo-module-obu-mogo/doc/ALPSALPINE CV2X AMI Specification v1.0.7.pdf differ
diff --git a/modules/mogo-module-obu-mogo/doc/AMI通讯协议.docx b/modules/mogo-module-obu-mogo/doc/AMI通讯协议.docx
new file mode 100644
index 0000000000..adb33ea869
Binary files /dev/null and b/modules/mogo-module-obu-mogo/doc/AMI通讯协议.docx differ
diff --git a/modules/mogo-module-obu-mogo/doc/CV2X_HLI_v1.0.1.pdf b/modules/mogo-module-obu-mogo/doc/CV2X_HLI_v1.0.1.pdf
new file mode 100644
index 0000000000..95de974cd3
Binary files /dev/null and b/modules/mogo-module-obu-mogo/doc/CV2X_HLI_v1.0.1.pdf differ
diff --git a/modules/mogo-module-obu-mogo/doc/HLI通讯协议.docx b/modules/mogo-module-obu-mogo/doc/HLI通讯协议.docx
new file mode 100644
index 0000000000..c06990ee95
Binary files /dev/null and b/modules/mogo-module-obu-mogo/doc/HLI通讯协议.docx differ
diff --git a/modules/mogo-module-obu-mogo/gradle.properties b/modules/mogo-module-obu-mogo/gradle.properties
new file mode 100644
index 0000000000..52bb3aba32
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/gradle.properties
@@ -0,0 +1,3 @@
+GROUP=com.mogo.module
+POM_ARTIFACT_ID=module-obu-mogo
+VERSION_CODE=1
diff --git a/modules/mogo-module-obu-mogo/proguard-rules.pro b/modules/mogo-module-obu-mogo/proguard-rules.pro
new file mode 100644
index 0000000000..481bb43481
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/proguard-rules.pro
@@ -0,0 +1,21 @@
+# Add project specific ProGuard rules here.
+# You can control the set of applied configuration files using the
+# proguardFiles setting in build.gradle.
+#
+# For more details, see
+# http://developer.android.com/guide/developing/tools/proguard.html
+
+# If your project uses WebView with JS, uncomment the following
+# and specify the fully qualified class name to the JavaScript interface
+# class:
+#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
+# public *;
+#}
+
+# Uncomment this to preserve the line number information for
+# debugging stack traces.
+#-keepattributes SourceFile,LineNumberTable
+
+# If you keep the line number information, uncomment this to
+# hide the original source file name.
+#-renamesourcefileattribute SourceFile
\ No newline at end of file
diff --git a/modules/mogo-module-obu-mogo/src/main/AndroidManifest.xml b/modules/mogo-module-obu-mogo/src/main/AndroidManifest.xml
new file mode 100644
index 0000000000..838a9d6c27
--- /dev/null
+++ b/modules/mogo-module-obu-mogo/src/main/AndroidManifest.xml
@@ -0,0 +1,5 @@
+
+
+
+
\ No newline at end of file
diff --git a/settings.gradle b/settings.gradle
index 9a79d7e08c..30af020fd3 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -74,3 +74,4 @@ include ':OCH:mogo-och-taxi'
include ':OCH:mogo-och-bus'
include ':OCH:mogo-och-noop'
include ':OCH:mogo-och'
+include ':modules:mogo-module-obu-mogo'