diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/v2x/AdvanceWarningBean.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/v2x/AdvanceWarningBean.kt
new file mode 100644
index 0000000000..f64ea6cd66
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/v2x/AdvanceWarningBean.kt
@@ -0,0 +1,27 @@
+package com.mogo.eagle.core.data.v2x
+
+import androidx.annotation.Keep
+
+/**
+ * 路口碰撞预警、盲区预警等通用Bean
+ */
+@Keep
+data class AdvanceWarningBean(
+    var objectId: String,
+    var status: Int,
+    var typeId: Int,
+    var time: Long,
+    var level: Int,
+    var position: Position,
+    var heading: Int,
+    var speed: Double,
+    var distance: Double,
+    var roadId: String,
+    var laneId: String,
+    var laneNum: Int,
+    var gdLocusList: List<Position>,
+    var locusList: List<Position>
+)
+
+@Keep
+data class Position(var lat: Double, var lon: Double)
diff --git a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java
index 2313dd529f..ac9f284b7a 100644
--- a/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java
+++ b/foudations/mogo-aicloud-services-sdk/src/main/java/com/mogo/aicloud/services/socket/MogoAiCloudSocketManager.java
@@ -167,6 +167,10 @@ public class MogoAiCloudSocketManager extends ConnectionLifecycleListener implem
 
         @Override
         public void onMsgReceived(int msgType, Object obj) {
+            if (obj == null) {
+                Logger.e(TAG,"Failed to parse the received message!");
+                return;
+            }
             Logger.d(TAG,"onMsgReceived obj className : " + obj.getClass().getName());
             List<IMogoOnMessageListener> listeners = mListeners.get(msgType);
             if (listeners != null && !listeners.isEmpty()) {
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java
index 0dbad21eb8..7ab374d1f7 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/V2XSocketManager.java
@@ -11,6 +11,7 @@ import com.mogo.module.v2x.listener.V2XMessageListener_401011;
 import com.mogo.module.v2x.listener.V2XMessageListener_401012;
 import com.mogo.module.v2x.listener.V2XMessageListener_402000;
 import com.mogo.module.v2x.listener.V2XMessageListener_401018;
+import com.mogo.module.v2x.listener.V2XMessageListener_404000;
 import com.mogo.utils.logger.Logger;
 
 import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
@@ -36,6 +37,7 @@ public class V2XSocketManager {
     private V2XMessageListener_401010 v2XMessageListener_401010;
     private V2XMessageListener_402000 mV2XMessageListener_402000;
     private V2XMessageListener_401018 mV2XMessageListener401018;
+    private V2XMessageListener_404000 mV2XMessageListener_404000;
 
     private V2XSocketManager() {
     }
@@ -66,6 +68,7 @@ public class V2XSocketManager {
         register401007();
         register401009();
         register401020();
+        register404000();
         registerWarningMsg();
 
         // TODO 这里是前瞻需求，量产版本需要注释
@@ -120,6 +123,11 @@ public class V2XSocketManager {
                     .getMoGoSocketManager()
                     .unregisterOnMessageListener(402000, mV2XMessageListener_402000);
         }
+        if (mV2XMessageListener_404000 != null) {
+            V2XServiceManager
+                    .getMoGoSocketManager()
+                    .unregisterOnMessageListener(404000, mV2XMessageListener_404000);
+        }
     }
 
     /**
@@ -245,6 +253,17 @@ public class V2XSocketManager {
                 );
     }
 
+    public void register404000() {
+        mV2XMessageListener_404000 = new V2XMessageListener_404000();
+        // 道路事件，在线车辆绘制
+        V2XServiceManager
+                .getMoGoSocketManager()
+                .registerOnMessageListener(
+                        404000,
+                        mV2XMessageListener_404000
+                );
+    }
+
     /**
      * * 车路云—场景预警-V1.0
      * * http://wiki.zhidaohulian.com/pages/viewpage.action?pageId=52829799
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_404000.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_404000.java
new file mode 100644
index 0000000000..9597b62f40
--- /dev/null
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/listener/V2XMessageListener_404000.java
@@ -0,0 +1,26 @@
+package com.mogo.module.v2x.listener;
+
+import static com.mogo.module.v2x.V2XConst.MODULE_NAME;
+
+import com.mogo.eagle.core.data.v2x.AdvanceWarningBean;
+import com.mogo.service.cloud.socket.IMogoOnMessageListener;
+import com.mogo.utils.logger.Logger;
+import com.mogo.utils.network.utils.GsonUtil;
+
+/**
+ * @author chenfufeng
+ * @description 路口碰撞预警、盲区预警等
+ * @since: 2021/9/23
+ */
+public class V2XMessageListener_404000 implements IMogoOnMessageListener<AdvanceWarningBean> {
+    @Override
+    public Class target() {
+        return AdvanceWarningBean.class;
+    }
+
+    @Override
+    public void onMsgReceived(AdvanceWarningBean message) {
+        // 将接收到的数据转换成最优车道推荐的场景数据
+        Logger.i(MODULE_NAME, "V2XMessageListener_404000：" + GsonUtil.jsonFromObject(message));
+    }
+}