diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
index ed2bdaacac..661eb53fbc 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/OCHTaxiFragment.java
@@ -142,7 +142,7 @@ class OCHTaxiFragment extends BaseOchFragment< OCHTaxiView, OCHTaxiPresenter > i
             slidePanelView.setVisibility( View.VISIBLE );
             slidePanelView.setText( getString( R.string.module_och_taxi_arrive_at_end_station ) );
             mOrderStatus.setText( "已到达乘客下车地点" );
-            showNotice( "请携带好随身物品，注意侧后\n方来车，感谢体验蘑菇智行自\n动驾驶车" );
+            showNotice( "请携带好随身物品，注意侧后\n方来车，感谢体验蘑菇智行自\n动驾驶车！" );
         } else if ( MogoOCHTaxiModel.getInstance().isOnTheWay2EndStation() ) {
             Logger.d( TAG, "已经去往终点" );
             slidePanelView.setVisibility( View.GONE );
diff --git a/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_bkg.xml b/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_bkg.xml
index d6aa33cbcd..e189a5b0e2 100644
--- a/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_bkg.xml
+++ b/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_bkg.xml
@@ -3,7 +3,10 @@
     <item>
         <shape>
             <corners android:radius="17px" />
-            <solid android:color="#AD3D4E81" />
+            <gradient
+                android:angle="270"
+                android:endColor="#152147"
+                android:startColor="#354E8A" />
         </shape>
     </item>
     <item
@@ -14,8 +17,9 @@
         <shape>
             <corners android:radius="17px" />
             <gradient
-                android:endColor="#202D4E"
-                android:startColor="#2C3862" />
+                android:angle="270"
+                android:endColor="#141C35"
+                android:startColor="#344687" />
         </shape>
     </item>
 </layer-list>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_distance_bkg.xml b/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_distance_bkg.xml
index 998e8eeaaf..fc07af2764 100644
--- a/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_distance_bkg.xml
+++ b/OCH/mogo-och-taxi/src/main/res/drawable/module_och_taxi_panel_distance_bkg.xml
@@ -1,9 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
 <shape xmlns:android="http://schemas.android.com/apk/res/android">
     <gradient
-        android:centerColor="#080F25"
-        android:endColor="#121A35"
-        android:startColor="#131D42" />
+        android:angle="0"
+        android:centerColor="#7f080F25"
+        android:endColor="#7f121A35"
+        android:startColor="#7f131D42" />
     <corners
         android:bottomLeftRadius="17px"
         android:bottomRightRadius="17px"
diff --git a/OCH/mogo-och-taxi/src/main/res/layout/module_och_taxi_panel.xml b/OCH/mogo-och-taxi/src/main/res/layout/module_och_taxi_panel.xml
index 20eacb3fbd..79726c5bb5 100644
--- a/OCH/mogo-och-taxi/src/main/res/layout/module_och_taxi_panel.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/module_och_taxi_panel.xml
@@ -19,11 +19,11 @@
 
     <View
         android:layout_width="wrap_content"
-        android:layout_height="2px"
+        android:layout_height="1px"
         android:layout_marginLeft="30px"
         android:layout_marginTop="23px"
         android:layout_marginRight="30px"
-        android:background="#151B37" />
+        android:background="#4D151B37" />
 
     <androidx.constraintlayout.widget.ConstraintLayout
         android:layout_width="match_parent"
diff --git a/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java b/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
index 2a115d17a5..4c6d6fdab0 100644
--- a/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
+++ b/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
@@ -27,6 +27,7 @@ import com.mogo.service.statusmanager.StatusDescriptor;
  */
 public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> {
     protected SlidePanelView slidePanelView;
+    private View tvNoticeContainer;
     private TextView tvNotice;
     private CheckedTextView ctvAutopilotStatus;
     private FrameLayout flStationPanelContainer;
@@ -48,6 +49,7 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
     @Override
     protected void initViews() {
         slidePanelView = findViewById(R.id.module_mogo_och_slide_panel);
+        tvNoticeContainer = findViewById(R.id.module_mogo_och_notice_container);
         tvNotice = findViewById(R.id.module_mogo_och_notice);
         ctvAutopilotStatus = findViewById(R.id.module_mogo_och_autopilot_status);
         flStationPanelContainer = findViewById(R.id.module_mogo_och_station_panel_container);
@@ -113,7 +115,7 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
         getActivity().runOnUiThread(() -> {
             tvNotice.setText(notice);
             AIAssist.getInstance(getContext()).speakTTSVoice(notice);
-            tvNotice.setVisibility(View.VISIBLE);
+            tvNoticeContainer.setVisibility(View.VISIBLE);
             fivNoticeHead.setVisibility(View.VISIBLE);
             fivNoticeHead.startAnim();
         });
@@ -121,7 +123,7 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
 
     public void hideNotice() {
         getActivity().runOnUiThread(() -> {
-            tvNotice.setVisibility(View.GONE);
+            tvNoticeContainer.setVisibility(View.GONE);
             fivNoticeHead.setVisibility(View.GONE);
             fivNoticeHead.stopAnim();
         });
diff --git a/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml b/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml
index cfe4238f5a..3ce2aa886f 100644
--- a/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml
+++ b/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml
@@ -41,19 +41,28 @@
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent" />
 
-    <TextView
-        android:id="@+id/module_mogo_och_notice"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:background="@drawable/module_mogo_och_base_notice_box_bg"
-        android:maxWidth="@dimen/module_mogo_och_notice_text_max_width"
-        android:text="请携带好随身物品\n注意侧后方来车\n感谢体验蘑菇智行自动驾驶车！"
-        android:textColor="#fff"
-        android:textSize="@dimen/module_mogo_och_notice_text_size"
+    <FrameLayout
+        android:id="@+id/module_mogo_och_notice_container"
         android:visibility="gone"
         tools:visibility = "visible"
         app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_width="wrap_content"
+        android:background="@drawable/module_mogo_och_base_notice_box_bg"
+        android:layout_height="wrap_content">
+        <TextView
+            android:id="@+id/module_mogo_och_notice"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_gravity="center"
+            android:maxWidth="@dimen/module_mogo_och_notice_text_max_width"
+            android:text="请携带好随身物品\n注意侧后方来车\n感谢体验蘑菇智行自动驾驶车！"
+            android:textColor="#fff"
+            android:textSize="@dimen/module_mogo_och_notice_text_size"
+            android:textStyle="bold"
+            android:lineSpacingExtra="5px" />
+    </FrameLayout>
+
 
     <com.mogo.och.view.FrameAnimImageView
         android:layout_width="wrap_content"
@@ -62,8 +71,8 @@
         android:src="@drawable/ic_happy1_00000"
         android:visibility="gone"
         android:layout_marginTop="185px"
-        app:layout_constraintRight_toRightOf="@id/module_mogo_och_notice"
-        app:layout_constraintTop_toTopOf="@id/module_mogo_och_notice"/>
+        app:layout_constraintRight_toRightOf="@id/module_mogo_och_notice_container"
+        app:layout_constraintTop_toTopOf="@id/module_mogo_och_notice_container"/>
 
     <Button
         android:layout_width="wrap_content"
diff --git a/libraries/map-custom/build.gradle b/libraries/map-custom/build.gradle
index 04955bd309..67376f59f2 100644
--- a/libraries/map-custom/build.gradle
+++ b/libraries/map-custom/build.gradle
@@ -67,7 +67,7 @@ dependencies {
         implementation project(':foudations:mogo-commons')
     }
 
-    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.0.8'
+    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-8.0.9'
 //    implementation 'com.zhidaoauto.machine:map:1.0.0-vr-test-3.4'
 }
 
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
index 7416748d61..8b4ee7e0f1 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -788,6 +788,7 @@ public class AMapViewWrapper implements IMogoMapView,
                 mSpeedView.setLayoutParams( new ViewGroup.LayoutParams( ViewGroup.LayoutParams.WRAP_CONTENT, ViewGroup.LayoutParams.WRAP_CONTENT ) );
             }
             mSpeedView.setText( String.valueOf( ( ( int ) ( speed * 3.6 ) ) ) );
+            mSelfMarker.setInfoWindowOffset( 0, 20 );
             mSelfMarker.setInfoWindowView( mSpeedView );
         } else {
             mSelfMarker.hideInfoWindow();
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
index 5250465a76..295aa0f3b1 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/AdasRecognizedResultDrawer.java
@@ -64,6 +64,10 @@ class AdasRecognizedResultDrawer extends BaseDrawer {
     // adas marker 缓存
     private Map< String, IMogoMarker > mAdasRecognizedMarkersCaches = new ConcurrentHashMap<>();
 
+    public boolean hasCached( String uniqueKey ) {
+        return mAdasRecognizedMarkersCaches.containsKey( uniqueKey );
+    }
+
     public void renderAdasRecognizedResult( List< ADASRecognizedListResult > resultList, boolean machineVision, double curSpeed ) {
         if ( resultList == null || resultList.isEmpty() ) {
             MogoApisHandler.getInstance().getApis().getMapServiceApi().getMarkerManager( mContext ).removeMarkers( DataTypes.TYPE_MARKER_ADAS );
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
index df2693c468..2fdd3d62a5 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/drawer/SnapshotSetDataDrawer.java
@@ -152,7 +152,10 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
 
             IMogoMarker marker = null;
             String uniqueKey = cloudRoadData.getUniqueKey();
-            if ( TextUtils.isEmpty( uniqueKey ) ) {
+            if ( TextUtils.isEmpty( uniqueKey )
+                    // 本地过滤重复下发的adas识别车辆
+                    || AdasRecognizedResultDrawer.getInstance().hasCached( uniqueKey )
+            ) {
                 continue;
             }
             if ( mCloudSnapshotMarkersCaches.containsKey( uniqueKey ) ) {
@@ -338,7 +341,7 @@ class SnapshotSetDataDrawer extends BaseDrawer implements IMogoMarkerClickListen
     private int getVrModel( CloudRoadData data ) {
         switch ( data.getFromType() ) {
             case CloudRoadData.FROM_ADAS:
-                return R.raw.cargrey;
+                return R.raw.taxi;
             case CloudRoadData.FROM_ROAD_UNIT:
                 return R.raw.cargreen;
             case CloudRoadData.FROM_MY_LOCATION:
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
index d89f01ebf5..8ad7c4db79 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/uploadintime/SnapshotUploadInTime.java
@@ -101,6 +101,7 @@ class SnapshotUploadInTime implements MogoRTKLocation.RTKLocationListener {
             }
         }
         List< ADASRecognizedResult > recognizedResults = MarkerServiceHandler.getADASController().getLastADASRecognizedResult();
+        Logger.d( TAG, "发送的adas识别数量 = %s", recognizedResults == null ? 0 : recognizedResults.size() );
         OnePerSecondSendContent content = new OnePerSecondSendContent();
         content.self = locationResult;
         content.adas = recognizedResults;