diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
index 49d225165e..b5141a1909 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/DataDistribution.java
@@ -115,6 +115,8 @@ public class DataDistribution {
     public final List<DataShow> listObuRsi = new ArrayList<>();
     public final List<DataShow> listObuRsm = new ArrayList<>();
     public final List<DataShow> listObuMap = new ArrayList<>();
+    public final List<DataShow> listV2nCongestionEvent = new ArrayList<>();
+    public final List<DataShow> listV2nGlobalPathEvents = new ArrayList<>();
 
     private long listTrajectorySize = 0;
     private long listTrackedObjectsSize = 0;
@@ -143,7 +145,8 @@ public class DataDistribution {
     private long listObuRsiSize = 0;
     private long listObuRsmSize = 0;
     private long listObuMapSize = 0;
-
+    private long listV2nCongestionEventSize = 0;
+    private long listV2nGlobalPathEventsSize = 0;
 
     public void clearCount() {
         listTrajectorySize = 1;
@@ -173,6 +176,8 @@ public class DataDistribution {
         listObuRsiSize = 1;
         listObuRsmSize = 1;
         listObuMapSize = 1;
+        listV2nCongestionEventSize = 1;
+        listV2nGlobalPathEventsSize = 1;
     }
 
     public String cutDown(String str) {
@@ -369,6 +374,22 @@ public class DataDistribution {
                 if (listener != null && Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO.equals(listener.first)) {
                     listener.second.onRefresh();
                 }
+            } else if (messageType == MessagePad.MessageType.MsgTypeV2nCongestionEvent) {
+                listV2nCongestionEvent.add(0, new DataShow(listV2nCongestionEventSize++, time + str));
+                if (listV2nCongestionEvent.size() > LIST_SIZE) {
+                    listV2nCongestionEvent.remove(listV2nCongestionEvent.size() - 1);
+                }
+                if (listener != null && Constants.TITLE.RECEIVE_V2N_CONGESTION_EVENT.equals(listener.first)) {
+                    listener.second.onRefresh();
+                }
+            } else if (messageType == MessagePad.MessageType.MsgTypeV2nGlobalPathEvents) {
+                listV2nGlobalPathEvents.add(0, new DataShow(listV2nGlobalPathEventsSize++, time + str));
+                if (listV2nGlobalPathEvents.size() > LIST_SIZE) {
+                    listV2nGlobalPathEvents.remove(listV2nGlobalPathEvents.size() - 1);
+                }
+                if (listener != null && Constants.TITLE.RECEIVE_V2N_GLOBAL_PATH_EVENTS.equals(listener.first)) {
+                    listener.second.onRefresh();
+                }
             } else if (data instanceof PerceptionTrafficLight) {
                 listPerceptionTrafficLight.add(0, new DataShow(listPerceptionTrafficLightSize++, time + str));
                 if (listPerceptionTrafficLight.size() > LIST_SIZE) {
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/V2nGlobalPathEventsReceiveData.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/V2nGlobalPathEventsReceiveData.java
new file mode 100644
index 0000000000..1dc55915a2
--- /dev/null
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/V2nGlobalPathEventsReceiveData.java
@@ -0,0 +1,59 @@
+package com.zhidao.adas.client.bean;
+
+import com.google.protobuf.TextFormat;
+import com.zhidao.support.adas.high.common.ByteUtil;
+
+import java.text.SimpleDateFormat;
+
+import mogo.telematics.pad.MessagePad;
+import mogo.v2x.MogoV2X;
+import mogo.v2x.RoadOverviewEvents;
+
+public class V2nGlobalPathEventsReceiveData extends BaseInfo {
+    public final RoadOverviewEvents.RoadOverviewData roadOverview;
+    public final MogoV2X.RSI_PB construct;
+    public final MogoV2X.RSI_PB triangle;
+    public final MogoV2X.RSI_PB congestion;
+    public final MogoV2X.RSM_PB parkingViolation;
+
+    public V2nGlobalPathEventsReceiveData(MessagePad.Header header, RoadOverviewEvents.RoadOverviewData roadOverview, MogoV2X.RSI_PB construct, MogoV2X.RSI_PB triangle, MogoV2X.RSI_PB congestion, MogoV2X.RSM_PB parkingViolation, SimpleDateFormat sdf) {
+        super("接收", roadOverview.getSerializedSize(), header, sdf);
+        this.roadOverview = roadOverview;
+        this.construct = construct;
+        this.triangle = triangle;
+        this.congestion = congestion;
+        this.parkingViolation = parkingViolation;
+    }
+
+
+    @Override
+    public String toString() {
+        StringBuilder builder = new StringBuilder();
+        builder.append('\n').append("施工：");
+        if (construct != null) {
+            builder.append(TextFormat.printer().escapingNonAscii(false).printToString(construct));
+        } else {
+            builder.append("null");
+        }
+        builder.append('\n').append("三角牌：");
+        if (triangle != null) {
+            builder.append(TextFormat.printer().escapingNonAscii(false).printToString(triangle));
+        } else {
+            builder.append("null");
+        }
+        builder.append('\n').append("拥堵：");
+        if (congestion != null) {
+            builder.append(TextFormat.printer().escapingNonAscii(false).printToString(congestion));
+        } else {
+            builder.append("null");
+        }
+        builder.append('\n').append("违停：");
+        if (parkingViolation != null) {
+            builder.append(TextFormat.printer().escapingNonAscii(false).printToString(parkingViolation));
+        } else {
+            builder.append("null");
+        }
+        return super.toString() + "Payload原始数据：" + ByteUtil.byteArrToHex(roadOverview.toByteArray()) + builder.toString();
+    }
+
+}
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
index cae37b48c3..def9da6227 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/InfoFragment.java
@@ -227,6 +227,10 @@ public class InfoFragment extends BaseFragment {
             adapter.setData(DataDistribution.getInstance().listBackCameraVideo);
         } else if (Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA.equals(title)) {
             adapter.setData(DataDistribution.getInstance().listRoboSweeperTaskIndex);
+        } else if (Constants.TITLE.RECEIVE_V2N_CONGESTION_EVENT.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listV2nCongestionEvent);
+        } else if (Constants.TITLE.RECEIVE_V2N_GLOBAL_PATH_EVENTS.equals(title)) {
+            adapter.setData(DataDistribution.getInstance().listV2nGlobalPathEvents);
         } else {
             adapter.setData(DataDistribution.getInstance().listErrorData);
         }
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index 2b00adea2d..e6aa42d2a5 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -64,6 +64,7 @@ import com.zhidao.adas.client.bean.ReceiveBytesData;
 import com.zhidao.adas.client.bean.ReceiveData;
 import com.zhidao.adas.client.bean.SendCmd;
 import com.zhidao.adas.client.bean.SpecialVehicleBean;
+import com.zhidao.adas.client.bean.V2nGlobalPathEventsReceiveData;
 import com.zhidao.adas.client.log.ConnectStatusSave;
 import com.zhidao.adas.client.log.LogSave;
 import com.zhidao.adas.client.other.permission.BackgrounderPermission;
@@ -85,6 +86,7 @@ import com.zhidao.support.adas.high.common.RegexUtils;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
 
 import java.net.Inet4Address;
 import java.net.InetAddress;
@@ -104,6 +106,8 @@ import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
+import mogo.v2x.MogoV2X;
+import mogo.v2x.RoadOverviewEvents;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -711,6 +715,8 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         titleFragmentData.add(Constants.TITLE.RECEIVE_OBU_MAP);
         titleFragmentData.add(Constants.TITLE.RECEIVE_SWEEPER_TASK_INDEX_DATA);
         titleFragmentData.add(Constants.TITLE.RECEIVE_BACK_CAMERA_VIDEO);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_V2N_CONGESTION_EVENT);
+        titleFragmentData.add(Constants.TITLE.RECEIVE_V2N_GLOBAL_PATH_EVENTS);
         titleFragmentData.add(Constants.TITLE.RECEIVE_WARN);
         titleFragmentData.add(Constants.TITLE.RECEIVE_ERROR);
 
@@ -1137,6 +1143,18 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
         DataDistribution.getInstance().addData(base);
     }
 
+    @Override
+    public void onV2nCongestionEvent(@NotNull MessagePad.Header header, @NotNull MogoV2X.RSI_PB rsi) {
+        ReceiveData base = new ReceiveData(header, rsi, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
+    @Override
+    public void onV2nGlobalPathEvents(@NotNull MessagePad.Header header, @NotNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, @Nullable MogoV2X.RSM_PB parkingViolation) {
+        V2nGlobalPathEventsReceiveData base = new V2nGlobalPathEventsReceiveData(header, roadOverview, construct, triangle, congestion, parkingViolation, sdf);
+        DataDistribution.getInstance().addData(base);
+    }
+
     private void initAdas() {
         CupidLogUtils.e(TAG, "--->初始化");
         AdasOptions options;
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
index ba0998ca62..6c743f2245 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/utils/Constants.java
@@ -162,6 +162,8 @@ public class Constants {
         String RECEIVE_PLANNING_OBJECTS = MessageType.TYPE_RECEIVE_PLANNING_OBJECTS.desc;
         String RECEIVE_PLANNING_DECISION_STATE = MessageType.TYPE_RECEIVE_PLANNING_DECISION_STATE.desc;
         String RECEIVE_SWEEPER_TASK_INDEX_DATA = MessageType.TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA.desc;
+        String RECEIVE_V2N_CONGESTION_EVENT = MessageType.TYPE_RECEIVE_V2N_CONGESTION_EVENT.desc;
+        String RECEIVE_V2N_GLOBAL_PATH_EVENTS = MessageType.TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS.desc;
 
         //        String RECEIVE_BASIC_INFO_REQ = "自动驾驶设备基础信息请求";
         String TITLE_CAR_CONFIG_RESP = "工控机版本\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t配置";
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index bc791705a3..68066f6bf9 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -65,6 +65,8 @@ import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
 import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
+import mogo.v2x.MogoV2X
+import mogo.v2x.RoadOverviewEvents
 import mogo_msg.MogoReportMsg
 import perception.TrafficLightOuterClass
 import planning.RoboSweeperTaskIndexOuterClass
@@ -631,6 +633,30 @@ class MoGoAdasListenerImpl : OnAdasListener {
         }
     }
 
+    /**
+     * 主车附近事件推送
+     *
+     * @param header 头
+     * @param rsi    数据
+     */
+    override fun onV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) {
+
+    }
+
+    /**
+     * 主车路径全局事件推送
+     *
+     * @param header           头
+     * @param roadOverview     主车路径全局事件推送
+     * @param construct        施工
+     * @param triangle         三角牌
+     * @param congestion       拥堵
+     * @param parkingViolation 违停 ---包含 静态障碍车
+     */
+    override fun onV2nGlobalPathEvents(header: MessagePad.Header, roadOverview: RoadOverviewEvents.RoadOverviewData, construct: MogoV2X.RSI_PB?, triangle: MogoV2X.RSI_PB?, congestion: MogoV2X.RSI_PB?, parkingViolation: MogoV2X.RSM_PB?) {
+
+    }
+
     /**
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index ef5eaf508c..daa7cbe5e7 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -62,6 +62,8 @@ enum MessageType
     MsgTypeBagManagerCmd = 0x1011b; //bag管理
     MsgTypePlanningCmd = 0x1011c; //给planning的指令
     MsgTypeSetParamReqV2 = 0x1011d; //设置参数命令V2
+    MsgTypeV2nCongestionEvent = 0x1011e; //主车附近拥堵事件推送, 透传
+    MsgTypeV2nGlobalPathEvents = 0x1011f; //主车路径全局事件推送, 透传
 }
 
 message Header
@@ -629,3 +631,10 @@ message PlanningCmd
 
 //message definition for MsgTypeBackCameraVideo
 //payload:jpeg data
+
+//message definition for MsgTypeV2nCongestionEvent
+//refer to RSI_PB in mogo_v2x.proto for details
+
+//message definition for MsgTypeV2nGlobalPathEvents
+//refer to road_overview_events.proto for details
+
diff --git a/libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto b/libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto
index 987485620f..429678a969 100644
--- a/libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto
+++ b/libraries/mogo-adas-data/src/main/proto/mogo_v2x.proto
@@ -1,88 +1,573 @@
 syntax = "proto2";
 
 package mogo.v2x;
+import "header.proto";
 
 message VerticalOffset_PB{
-    oneof VerticalOffset{
-        int32 offset1 = 1;
-        int32 offset2 = 2;
-        int32 offset3 = 3;
-        int32 offset4 = 4;
-        int32 offset5 = 5;
-        int32 offset6 = 6;
-        int32 elevation = 7;
-    }
+  //-- Vertical Offset
+  //-- All below in steps of 10cm above or below the reference ellipsoid
+  //offset1 VertOffset-B07, -- with a range of +- 6.3 meters vertical
+  //offset2 VertOffset-B08, -- with a range of +- 12.7 meters vertical
+  //offset3 VertOffset-B09, -- with a range of +- 25.5 meters vertical
+  //offset4 VertOffset-B10, -- with a range of +- 51.1 meters vertical
+  //offset5 VertOffset-B11, -- with a range of +- 102.3 meters vertical
+  //offset6 VertOffset-B12, -- with a range of +- 204.7 meters vertical
+  //elevation Elevation -- with a range of -409.5 to + 6143.9 meters
+  oneof VerticalOffset{
+    int32 offset1 = 1;
+    int32 offset2 = 2;
+    int32 offset3 = 3;
+    int32 offset4 = 4;
+    int32 offset5 = 5;
+    int32 offset6 = 6;
+    int32 elevation = 7;
+  }
 }
 
 message VehicleSize_PB {
-   required int32 width = 1;
-   required int32 length = 2;
-   optional int32 height = 3;	
+  required int32 width = 1;
+  required int32 length = 2;
+  optional int32 height = 3;
 }
 
 message AccelerationSet4Way_PB {
-    required int32  lon = 1;
-    required int32  lat = 2;
-    required int32  vert = 3;
-    required int32  yaw = 4;
+  required int32  lon = 1;
+  required int32  lat = 2;
+  required int32  vert = 3;
+  required int32  yaw = 4;
 }
 
 //////////////////////////////////////////////////////////////////
 //经纬度偏差，来描述一个坐标点的相对位置。约定偏差值等于真实值减去参考值。
 //提供了 7 种尺度的描述方式
 message PositionOffsetLL_PB{
-    oneof PositionOffsetLL{
-        Position_LL_24B position_LL1 = 1;
-        Position_LL_28B position_LL2 = 2;
-        Position_LL_32B position_LL3 = 3;
-        Position_LL_36B position_LL4 = 4;
-        Position_LL_44B position_LL5 = 5;
-        Position_LL_48B position_LL6 = 6;
-        Position_LLmD_64b position_LatLon = 7;
-    }
+  //position-LL1 Position-LL-24B,
+  //-- within +- 22.634554 meters of the reference position
+  //position-LL2 Position-LL-28B,
+  //-- within +- 90.571389 meters of the reference position
+  //position-LL3 Position-LL-32B,
+  //-- within +- 362.31873 meters of the reference position
+  //position-LL4 Position-LL-36B,
+  //-- within +- 01.449308 Kmeters of the reference position
+  //position-LL5 Position-LL-44B,
+  //-- within +- 23.189096 Kmeters of the reference position
+  //position-LL6 Position-LL-48B,
+  //-- within +- 92.756481 Kmeters of the reference position
+  //position-LatLon Position-LLmD-64b
+  oneof PositionOffsetLL{
+    Position_LL_24B position_LL1 = 1;
+    Position_LL_28B position_LL2 = 2;
+    Position_LL_32B position_LL3 = 3;
+    Position_LL_36B position_LL4 = 4;
+    Position_LL_44B position_LL5 = 5;
+    Position_LL_48B position_LL6 = 6;
+    Position_LLmD_64b position_LatLon = 7;
+  }
 }
+
 message  Position_LL_24B{
-    //  (-2048..2047)
-    required int64 lon = 1;
-    required int64 lat = 2;
+  //  (-2048..2047)
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 message  Position_LL_28B{
-    //  (-8192..8191)
-    required int64 lon = 1;
-    required int64 lat = 2;
+  //  (-8192..8191)
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 message  Position_LL_32B{
-    // (-32768..32767)
-    required int64 lon = 1;
-    required int64 lat = 2;
+  // (-32768..32767)
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 message  Position_LL_36B{
-    // (-131072..131071)
-    required int64 lon = 1;
-    required int64 lat = 2;
+  // (-131072..131071)
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 message  Position_LL_44B{
-    // (-2097152..2097151)
-    required int64 lon = 1;
-    required int64 lat = 2;
+  // (-2097152..2097151)
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 message  Position_LL_48B{
-    //  (-8388608..8388607)
-    required int64 lon = 1;
-    required int64 lat = 2;
+  //  (-8388608..8388607)
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 message  Position_LLmD_64b{
-    // 定义经度数值。东经为正，西经为负。
-    //分辨率为1e-7°。
-    required int64 lon = 1;
-    required int64 lat = 2;
+  // 定义经度数值。东经为正，西经为负。
+  //分辨率为1e-7°。
+  required int64 lon = 1;
+  required int64 lat = 2;
 }
 //////////////////////////////////////////////////////////////////
 
 message PositionOffsetLLV_PB{
-    required PositionOffsetLL_PB offsetLL = 1;
+  required PositionOffsetLL_PB offsetLL = 1;
+  optional VerticalOffset_PB offsetV = 2;
+}
 
-    optional VerticalOffset_PB offsetV = 2;
+/************************************************/
+message RoadSideInformation_PB {
+  //发送方为自己发送的同类消息，依次进行编号。编号数值为0～127，循环使用。
+  //该数据字段用于接收方对来自同一发送方的同一类消息，进行连续收包的监控和丢包的统计。
+  required  int64  msgCnt = 1;
+  //数值用来表示当前年份，已经过去的总分钟数（UTC时间）。
+  //其分辨率为1分钟。该数值配合DSecond数值，则可以表示以毫秒记的全年已过去的总时间。
+  optional int64 moy = 2;
+  //RSU_ID
+  required  String_PB   id = 3;
+  //RSU 对应坐标
+  required  Position3D_PB   refPos = 4;
+  //交通事件内容
+  optional RTEList_PB rtes = 5;
+  //交通标志内容
+  optional RTSList_PB rtss = 6;
+}
+
+message String_PB {
+  required  uint32   string_type = 1;
+  required  string    str_value = 2;
+}
+
+message Position3D_PB {
+  required int64 lat = 1;
+  required int64 Long = 2;
+  optional int64 elevation = 3;
+}
+
+message RTEList_PB {
+  //定义道路交通事件集合。
+  //至少包含1个道路交通事件信息，最多包含8个。
+  repeated RTEData_PB rteData = 1;
+}
+
+message RTEData_PB {
+  //(0..255)
+  required int64 rteId = 1;
+  // required EventType_PB eventType=2;
+  required int32  eventType = 2;
+  required EventSource_PB eventSource = 3;
+  optional PositionOffsetLLV_PB eventPos = 4;
+  // 分辨率为10 cm。
+  // (0..65535)
+  optional int64 eventRadius = 5;
+  //提供ASCII字符文本形式，支持长度1字节到512字节。该类型不提供
+  //提供中文编码形式，符合GB2312-80的编码规则，1个中文字符由2字节信息编码，支持长度1到256
+  //个中文字符
+  //Description
+  optional String_PB description = 6;
+
+  optional RSITimeDetails_PB timeDetails = 7;
+  // 表示RSI消息中不同类型交通事件或交通标志的优先级。数值长度占8位，其中低五位为0，为无效
+  //位，高三位为有效数据位。数值有效范围是B00000000到B11100000，分别表示8档由低到高的优先级。
+  //对应 RSIPriority
+  optional String_PB priority = 8;
+  optional ReferencePathList_PB referencePaths = 9;
+  optional ReferenceLinkList_PB referenceLinks = 10;
+  //定义置信度。
+  //分辨率为0.005。
+  // 0-200
+  optional int32 eventConfidence = 11;
+}
+
+message EventSource_PB {
+  //unknown(0), -- 0 Unknown
+  //police(1), -- 1 traffic police
+  //government(2), -- 2 govenment
+  //meteorological(3), -- 3 meteorological department
+  //internet(4), -- 4 internet services
+  //detection(5), -- 5 local detection
+  enum EventSource{
+    EventSource_unknown = 0;
+    EventSource_police = 1;
+    EventSource_government = 2;
+    EventSource_meteorological = 3;
+    EventSource_internet = 4;
+    EventSource_detection = 5;
+  };
+  required EventSource event_source = 1;
+}
+
+message RSITimeDetails_PB{
+  //数值用来表示当前年份，已经过去的总分钟数（UTC时间）。
+  //其分辨率为1分钟。该数值配合DSecond数值，则可以表示以毫秒记的全年已过去的总时间。
+  //(0..527040)
+  optional int64 startTime = 1;
+  optional int64 endTime = 2;
+  optional TimeConfidence_PB endTimeConfidence = 3;
+}
+
+message TimeConfidence_PB {
+  //unavailable (0), -- Not Equipped or unavailable
+  //time-100-000 (1), -- Better than 100 Seconds
+  //time-050-000 (2), -- Better than 50 Seconds
+  //time-020-000 (3), -- Better than 20 Seconds
+  //time-010-000 (4), -- Better than 10 Seconds
+  //time-002-000 (5), -- Better than 2 Seconds
+  //time-001-000 (6), -- Better than 1 Second
+  //time-000-500 (7), -- Better than 0.5 Seconds
+  //time-000-200 (8), -- Better than 0.2 Seconds
+  //time-000-100 (9), -- Better than 0.1 Seconds
+  //time-000-050 (10), -- Better than 0.05 Seconds
+  //time-000-020 (11), -- Better than 0.02 Seconds
+  //time-000-010 (12), -- Better than 0.01 Seconds
+  //time-000-005 (13), -- Better than 0.005 Seconds
+  //time-000-002 (14), -- Better than 0.002 Seconds
+  //time-000-001 (15), -- Better than 0.001 Seconds
+  //-- Better than one millisecond
+  //time-000-000-5 (16), -- Better than 0.000,5 Seconds
+  //time-000-000-2 (17), -- Better than 0.000,2 Seconds
+  //time-000-000-1 (18), -- Better than 0.000,1 Seconds
+  //time-000-000-05 (19), -- Better than 0.000,05 Seconds
+  //time-000-000-02 (20), -- Better than 0.000,02 Seconds
+  //time-000-000-01 (21), -- Better than 0.000,01 Seconds
+  //time-000-000-005 (22), -- Better than 0.000,005 Seconds
+  //time-000-000-002 (23), -- Better than 0.000,002 Seconds
+  //time-000-000-001 (24), -- Better than 0.000,001 Seconds
+  //-- Better than one micro second
+  //time-000-000-000-5 (25), -- Better than 0.000,000,5 Seconds
+  //time-000-000-000-2 (26), -- Better than 0.000,000,2 Seconds
+  //time-000-000-000-1 (27), -- Better than 0.000,000,1 Seconds
+  //time-000-000-000-05 (28), -- Better than 0.000,000,05 Seconds
+  //time-000-000-000-02 (29), -- Better than 0.000,000,02 Seconds
+  //time-000-000-000-01 (30), -- Better than 0.000,000,01 Seconds
+  //time-000-000-000-005 (31), -- Better than 0.000,000,005 Seconds
+  //time-000-000-000-002 (32), -- Better than 0.000,000,002 Seconds
+  //time-000-000-000-001 (33), -- Better than 0.000,000,001 Seconds
+  //-- Better than one nano second
+  //time-000-000-000-000-5 (34), -- Better than 0.000,000,000,5 Seconds
+  //time-000-000-000-000-2 (35), -- Better than 0.000,000,000,2 Seconds
+  //time-000-000-000-000-1 (36), -- Better than 0.000,000,000,1 Seconds
+  //time-000-000-000-000-05 (37), -- Better than 0.000,000,000,05 Seconds
+  //time-000-000-000-000-02 (38), -- Better than 0.000,000,000,02 Seconds
+  //time-000-000-000-000-01 (39) -- Better than 0.000,000,000,01 Seconds
+  enum TimeConfidence {
+    TimeConfidence_unavailable = 0;
+    TimeConfidence_time_100_000 = 1;
+    TimeConfidence_time_050_000 = 2;
+    TimeConfidence_time_020_000 = 3;
+    TimeConfidence_time_010_000 = 4;
+    TimeConfidence_time_002_000 = 5;
+    TimeConfidence_time_001_000 = 6;
+    TimeConfidence_time_000_500 = 7;
+    TimeConfidence_time_000_200 = 8;
+    TimeConfidence_time_000_100 = 9;
+    TimeConfidence_time_000_050 = 10;
+    TimeConfidence_time_000_020 = 11;
+    TimeConfidence_time_000_010 = 12;
+    TimeConfidence_time_000_005 = 13;
+    TimeConfidence_time_000_002 = 14;
+    TimeConfidence_time_000_001 = 15;
+    TimeConfidence_time_000_000_5 = 16;
+    TimeConfidence_time_000_000_2 = 17;
+    TimeConfidence_time_000_000_1 = 18;
+    TimeConfidence_time_000_000_05 = 19;
+    TimeConfidence_time_000_000_02 = 20;
+    TimeConfidence_time_000_000_01 = 21;
+    TimeConfidence_time_000_000_005 = 22;
+    TimeConfidence_time_000_000_002 = 23;
+    TimeConfidence_time_000_000_001 = 24;
+    TimeConfidence_time_000_000_000_5 = 25;
+    TimeConfidence_time_000_000_000_2 = 26;
+    TimeConfidence_time_000_000_000_1 = 27;
+    TimeConfidence_time_000_000_000_05 = 28;
+    TimeConfidence_time_000_000_000_02 = 29;
+    TimeConfidence_time_000_000_000_01 = 30;
+    TimeConfidence_time_000_000_000_005 = 31;
+    TimeConfidence_time_000_000_000_002 = 32;
+    TimeConfidence_time_000_000_000_001 = 33;
+    TimeConfidence_time_000_000_000_000_5 = 34;
+    TimeConfidence_time_000_000_000_000_2 = 35;
+    TimeConfidence_time_000_000_000_000_1 = 36;
+    TimeConfidence_time_000_000_000_000_05 = 37;
+    TimeConfidence_time_000_000_000_000_02 = 38;
+    TimeConfidence_time_000_000_000_000_01 = 39;
+  };
+  optional  TimeConfidence  time_confidence = 1;
+
+}
+
+message ReferencePathList_PB {
+  //SIZE(1..8)
+  repeated ReferencePath_PB referencePath = 1;
+}
+
+message ReferenceLinkList_PB {
+  //(1-16)
+  repeated ReferenceLink_PB ReferenceLink = 1;
+}
+
+message RTSList_PB {
+  //定义道路交通标志集合。
+  //至少包含1个道路交通标志信息，最多包含16个
+  repeated RTSData_PB rtsData = 1;
+}
+
+message RTSData_PB {
+  //(0..255)
+  required int64 rtsId = 1;
+  // required SignType_PB signType=2;
+  required int32  signType = 2;
+  optional PositionOffsetLLV_PB signPos = 3;
+  optional String_PB description = 4;
+  optional RSITimeDetails_PB timeDetails = 5;
+  optional String_PB priority = 6;
+  optional ReferencePathList_PB referencePaths = 7;
+  optional ReferenceLinkList_PB referenceLinks = 8;
+}
+
+message ReferencePath_PB {
+  required PathPointList_PB activePath = 1;
+  //表示绝对值半径大小。
+  //分辨率为10 cm。
+  //(0..65535)
+  required int64 pathRadius = 2;
+}
+
+message PathPointList_PB {
+  //(1..32))
+  repeated PositionOffsetLLV_PB offsetLLV = 1;
+}
+
+message ReferenceLink_PB {
+  required NodeReferenceID_PB upstreamNodeId = 1;
+  required NodeReferenceID_PB downstreamNodeId = 2;
+  optional ReferenceLanes_PB referenceLanes = 3;
+}
+
+message NodeReferenceID_PB {
+  //0-65535
+  optional int64 region = 1;
+  //0-65535
+  required int64 id = 2;
+}
+
+message ReferenceLanes_PB {
+  enum ReferenceLanesType{
+    ReferenceLanesType_reserved = 0;
+    ReferenceLanesType_lane1 = 1;
+    ReferenceLanesType_lane2 = 2;
+    ReferenceLanesType_lane3 = 3;
+    ReferenceLanesType_lane4 = 4;
+    ReferenceLanesType_lane5 = 5;
+    ReferenceLanesType_lane6 = 6;
+    ReferenceLanesType_lane7 = 7;
+    ReferenceLanesType_lane8 = 8;
+    ReferenceLanesType_lane9 = 9;
+    ReferenceLanesType_lane10 = 10;
+    ReferenceLanesType_lane11 = 11;
+    ReferenceLanesType_lane12 = 12;
+    ReferenceLanesType_lane13 = 13;
+    ReferenceLanesType_lane14 = 14;
+    ReferenceLanesType_lane15 = 15;
+  };
+  required ReferenceLanesType lane = 1;
+}
+
+message RSI_PB {
+  required RoadSideInformation_PB rsiFrame = 1;
+  optional common.Header header = 2;
 }
 
 
+
+
+
+message VehicleClassification_PB {
+  required int32 classification = 1;
+  optional int32 fuelType = 2;
+}
+
+message MotionConfidenceSet_PB {
+  enum SpeedConfidence_PB {
+    SpeedConfidence_unavailable = 0;
+    SpeedConfidence_prec100ms = 1;
+    SpeedConfidence_prec10ms = 2;
+    SpeedConfidence_prec5ms = 3;
+    SpeedConfidence_prec1ms = 4;
+    SpeedConfidence_prec0_1ms = 5;
+    SpeedConfidence_prec0_05ms = 6;
+    SpeedConfidence_prec0_01ms = 7;
+  }
+  optional SpeedConfidence_PB speedCfd = 1;
+  enum HeadingConfidence_PB {
+    HeadingConfidence_unavailable = 0;
+    HeadingConfidence_prec10deg = 1;
+    HeadingConfidence_prec05deg = 2;
+    HeadingConfidence_prec01deg = 3;
+    HeadingConfidence_prec0_d1deg = 4;
+    HeadingConfidence_prec0_d05deg = 5;
+    HeadingConfidence_prec0_d01deg = 6;
+    HeadingConfidence_prec0_d0125deg = 7;
+  }
+  optional HeadingConfidence_PB headingCfd = 2;
+  enum SteeringWheelAngleConfidence_PB {
+    SteeringWheelAngleConfidence_unavailable = 0;
+    SteeringWheelAngleConfidence_prec2deg = 1;
+    SteeringWheelAngleConfidence_prec1deg = 2;
+    SteeringWheelAngleConfidence_prec0_02deg = 3;
+  }
+  optional SteeringWheelAngleConfidence_PB steerCfd = 3;
+}
+
+
+message TransmissionState_PB{
+  // neutral (0), -- Neutral
+  //park (1), -- Park
+  //forwardGears (2), -- Forward gears
+  //reverseGears (3), -- Reverse gears
+  //reserved1 (4),
+  //reserved2 (5),
+  //reserved3 (6),
+  //unavailable (7)-- not-equipped or unavailable value,
+  //-- Any related speed is relative to the vehicle reference frame used
+  enum TransmissionState{
+    TransmissionState_neutral = 1;
+    TransmissionState_park = 2;
+    TransmissionState_forwardGears = 3;
+    TransmissionState_reverseGears = 4;
+    TransmissionState_reserved1 = 5;
+    TransmissionState_reserved2 = 6;
+    TransmissionState_reserved3 = 7;
+    TransmissionState_unavailable = 8;
+  };
+  required TransmissionState transmission_state = 1;
+}
+
+message PositionConfidenceSet_PB {
+  enum PositionConfidence_PB {
+    PositionConfidence_unavailable = 0;
+    PositionConfidence_a500m = 1;
+    PositionConfidence_a200m = 2;
+    PositionConfidence_a100m = 3;
+    PositionConfidence_a50m = 4;
+    PositionConfidence_a20m = 5;
+    PositionConfidence_a10m = 6;
+    PositionConfidence_a5m = 7;
+    PositionConfidence_a2m = 8;
+    PositionConfidence_a1m = 9;
+    PositionConfidence_a50cm = 10;
+    PositionConfidence_a20cm = 11;
+    PositionConfidence_a10cm = 12;
+    PositionConfidence_a5cm = 13;
+    PositionConfidence_a2cm = 14;
+    PositionConfidence_a1cm = 15;
+  }
+  required PositionConfidence_PB poscon = 1;
+
+  enum ElevationConfidence_PB {
+    ElevationConfidence_unavailable = 0;
+    ElevationConfidence_elev_500_00 = 1;
+    ElevationConfidence_elev_200_00 = 2;
+    ElevationConfidence_elev_100_00 = 3;
+    ElevationConfidence_elev_050_00 = 4;
+    ElevationConfidence_elev_020_00 = 5;
+    ElevationConfidence_elev_010_00 = 6;
+    ElevationConfidence_elev_005_00 = 7;
+    ElevationConfidence_elev_002_00 = 8;
+    ElevationConfidence_elev_001_00 = 9;
+    ElevationConfidence_elev_000_50 = 10;
+    ElevationConfidence_elev_000_20 = 11;
+    ElevationConfidence_elev_000_10 = 12;
+    ElevationConfidence_elev_000_05 = 13;
+    ElevationConfidence_elev_000_02 = 14;
+    ElevationConfidence_elev_000_01 = 15;
+  }
+  optional ElevationConfidence_PB elevationCon = 2;
+}
+
+message SourceType_PB{
+  //定义交通参与者数据的来源。包括以下类型：
+  //——unknown：未知数据源类型；
+  //——selfinfo：RSU 自身信息；
+  //——v2x：来源于参与者自身的 v2x 广播消息；
+  //——video：来源于视频传感器；
+  //——microwaveRadar：来源于微波雷达传感器；
+  //——loop：来源于地磁线圈传感器；
+  //——lidar：来源于激光雷达传感器；
+  //——integrated：2 类或以上感知数据的融合结果。
+  enum SourceType{
+    SourceType_unknown = 1;
+    SourceType_selfinfo = 2;
+    SourceType_v2x = 3;
+    SourceType_video = 4;
+    SourceType_microwaveRadar = 5;
+    SourceType_loop = 6;
+    SourceType_lidar = 7;
+    SourceType_integrated = 8;
+  };
+  required SourceType source_type = 1;
+}
+
+
+message ParticipantData_PB{
+  //ptcType ParticipantType,
+  //ptcId INTEGER (0..65535),
+  //-- temporary ID set by RSU
+  //-- 0 is RSU itself
+  //-- 1..255 represent participants detected by RSU
+  //-- ptcId of different participant needs to be unique in RSU
+  //source SourceType,
+  //id OCTET STRING (SIZE(8)) OPTIONAL,
+  //-- temperary vehicle ID from BSM
+  //secMark DSecond,
+  //pos PositionOffsetLLV,
+  //posConfidence PositionConfidenceSet,
+  //transmission TransmissionState OPTIONAL,
+  //speed Speed,
+  //heading Heading,
+  //angle SteeringWheelAngle OPTIONAL,
+  //motionCfd MotionConfidenceSet OPTIONAL,
+  //accelSet AccelerationSet4Way OPTIONAL,
+  //size VehicleSize,
+  //-- Size of participant including motor/non-motor/pedestrian/rsu
+  //-- is represented by DE_VehilceSize
+  //vehicleClass VehicleClassification OPTIONAL,
+
+  //    required ParticipantType_PB ptcType = 1;
+  required int64 ptcType = 1;
+  required int32 ptcId = 2;//不同参与者的ptcId在RSU中需要是唯一的,
+  required SourceType_PB source = 3;
+  optional String_PB id = 4; // 车的临时id,跟BSM消息一致
+  /* DSecond */ //1分钟内的毫秒级时刻分辨率为1毫秒，有效范围时0~59999.60000及以上表示未知或无效数值
+  required    int64   secMark = 5;
+  required PositionOffsetLLV_PB pos = 6; // 中心位置
+  required PositionConfidenceSet_PB posConfidence = 7;
+  optional TransmissionState_PB transmission = 8; // 车辆挡位
+  //速度 0.02m/s
+  required    int32    speed = 9;
+  //航向角
+  required    int32    heading = 10;
+  //SteeringWheelAngle_t  方向盘转角(-126..127)
+  optional    int32   angle = 11;
+  optional MotionConfidenceSet_PB motionCfd = 12;
+  optional AccelerationSet4Way_PB accelSet = 13;
+  required VehicleSize_PB size = 14;
+  optional VehicleClassification_PB vehicleClass = 15;
+}
+
+message ParticipantList_PB{
+  // 定义交通参与者列表。应用于RSM消息中，表示RSU当前探测到的所有或者部分交通参与者信息
+  // size 为1-16个
+  repeated ParticipantData_PB participantData = 1;
+}
+
+message RoadsideSafetyMessage_PB {
+  /* MsgCount */
+  //发送方为自己发送的同类消息,依次进行编号。编号数值为 0 ~ 127。
+  //当发送方开始发起某一类数据时,它可以随机选择起始编号,随后依次递增。发送方也可以在
+  //连续发送相同的数据帧时,选择使用相同的 MsgCount 消息编号。编号到达 127 后,则下一个回到 0。
+  required  int64  msgCnt = 1;
+  required  String_PB id = 2; //RSU_ID
+  required  Position3D_PB refPos = 3; // 三维坐标
+  required  ParticipantList_PB participants = 4; //交通参与者信息
+}
+
+
+message RSM_PB {
+  required RoadsideSafetyMessage_PB rsmFrame = 1;
+  optional common.Header header = 2;
+}
+
diff --git a/libraries/mogo-adas-data/src/main/proto/road_overview_events.proto b/libraries/mogo-adas-data/src/main/proto/road_overview_events.proto
new file mode 100644
index 0000000000..77e8e653b4
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/road_overview_events.proto
@@ -0,0 +1,11 @@
+syntax = "proto3";
+package mogo.v2x;
+
+message RoadOverviewData {
+ uint64 msgId = 1; //  消息ID
+ uint64 timestamp = 2; //unix时间戳
+ bytes  constructData= 3; //施工  RSI_PB
+ bytes  triangleData= 4; //三角牌 RSI_PB
+ bytes  congestionData= 5; //拥堵 RSI_PB
+ bytes  parkingViolationData= 6; //违停 ---包含 静态障碍车 RSM_PB
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index a979279247..d78445c63b 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -5,12 +5,15 @@ import com.zhidao.support.adas.high.common.ProtocolStatus;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 
 import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
 
 import bag_manager.BagManagerOuterClass;
 import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
+import mogo.v2x.MogoV2X;
+import mogo.v2x.RoadOverviewEvents;
 import mogo_msg.MogoReportMsg;
 import perception.TrafficLightOuterClass;
 import planning.RoboSweeperTaskIndexOuterClass;
@@ -261,6 +264,26 @@ public interface OnAdasListener {
      */
     void onBagManagerCmd(MessagePad.Header header, BagManagerOuterClass.BagManager bagManager);
 
+    /**
+     * 主车附近事件推送
+     *
+     * @param header 头
+     * @param rsi    数据
+     */
+    void onV2nCongestionEvent(@NotNull MessagePad.Header header, @NotNull MogoV2X.RSI_PB rsi);
+
+    /**
+     * 主车路径全局事件推送
+     *
+     * @param header           头
+     * @param roadOverview     主车路径全局事件推送
+     * @param construct        施工
+     * @param triangle         三角牌
+     * @param congestion       拥堵
+     * @param parkingViolation 违停 ---包含 静态障碍车
+     */
+    void onV2nGlobalPathEvents(@NotNull MessagePad.Header header, @NotNull RoadOverviewEvents.RoadOverviewData roadOverview, @Nullable MogoV2X.RSI_PB construct, @Nullable MogoV2X.RSI_PB triangle, @Nullable MogoV2X.RSI_PB congestion, MogoV2X.RSM_PB parkingViolation);
+
     /**
      * 是否有能力启动自动驾驶
      *
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
index 1e4ab16c9b..1372784e3f 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/MessageType.java
@@ -60,6 +60,8 @@ public enum MessageType {
     TYPE_RECEIVE_BAG_MANAGER_CMD(MessagePad.MessageType.MsgTypeBagManagerCmd, "Bag管理应答"),
     TYPE_SEND_PLANNING_CMD(MessagePad.MessageType.MsgTypePlanningCmd, "给Planning指令"),
     TYPE_SEND_SET_PARAM_REQ_V2(MessagePad.MessageType.MsgTypeSetParamReqV2, "设置参数命令V2"),
+    TYPE_RECEIVE_V2N_CONGESTION_EVENT(MessagePad.MessageType.MsgTypeV2nCongestionEvent, "主车附近事件推送"),
+    TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS(MessagePad.MessageType.MsgTypeV2nGlobalPathEvents, "主车路径全局事件推送"),
     //TODO 透传原始pb文件中不存在以下type。由于Java中无法强转,所以在mogo-adas-data/message_pad.proto中放开注释
     TYPE_RECEIVE_PLANNING_DECISION_STATE(MessagePad.MessageType.MsgTypePlanningDecisionState, "Planning决策状态"),
     TYPE_RECEIVE_SWEEPER_TASK_INDEX_DATA(MessagePad.MessageType.MsgTypeSweeperTaskIndexData, "清扫车指标数据"),
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
index 1597921140..00c6b36f15 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -38,6 +38,8 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg bagManagerMessage;//Bag管理应答
     private IMsg backCameraVideoMessage;//清扫车后摄像头
     private IMsg pointCloudMessage;//3D点云
+    private IMsg v2nCongestionEventMessage;//主车附近事件推送
+    private IMsg v2nGlobalPathEventsMessage;//主车路径全局事件推送
 
     private final AutopilotReview autopilotReview;
 
@@ -197,6 +199,18 @@ public class MyMessageFactory implements IMyMessageFactory {
                 backCameraVideoMessage = new BackCameraVideoMessage();
             }
             return backCameraVideoMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_V2N_CONGESTION_EVENT.typeCode) {
+            //主车附近事件推送
+            if (v2nCongestionEventMessage == null) {
+                v2nCongestionEventMessage = new V2nCongestionEventMessage();
+            }
+            return v2nCongestionEventMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_V2N_GLOBAL_PATH_EVENTS.typeCode) {
+            //主车路径全局事件推送
+            if (v2nGlobalPathEventsMessage == null) {
+                v2nGlobalPathEventsMessage = new V2nGlobalPathEventsMessage();
+            }
+            return v2nGlobalPathEventsMessage;
         } else {
             //MessageType.TYPE_DEFAULT.typeCode
             return null;
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nCongestionEventMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nCongestionEventMessage.java
new file mode 100644
index 0000000000..a643ba43d4
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nCongestionEventMessage.java
@@ -0,0 +1,31 @@
+package com.zhidao.support.adas.high.msg;
+
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import mogo.v2x.MogoV2X;
+
+/**
+ * 主车附近事件推送
+ */
+public class V2nCongestionEventMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        MogoV2X.RSI_PB rsi = MogoV2X.RSI_PB.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("主车附近事件推送", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onV2nCongestionEvent(raw.getHeader(), rsi);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("主车附近事件推送", nowTime);
+    }
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nGlobalPathEventsMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nGlobalPathEventsMessage.java
new file mode 100644
index 0000000000..12fc1684d0
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/V2nGlobalPathEventsMessage.java
@@ -0,0 +1,57 @@
+package com.zhidao.support.adas.high.msg;
+
+
+import android.os.SystemClock;
+
+import com.google.protobuf.ByteString;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import mogo.v2x.MogoV2X;
+import mogo.v2x.RoadOverviewEvents;
+
+/**
+ * 主车路径全局事件推送
+ */
+public class V2nGlobalPathEventsMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        RoadOverviewEvents.RoadOverviewData roadOverview = RoadOverviewEvents.RoadOverviewData.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        MogoV2X.RSI_PB construct = null;
+        MogoV2X.RSI_PB triangle = null;
+        MogoV2X.RSI_PB congestion = null;
+        MogoV2X.RSM_PB parkingViolation = null;
+        //施工  RSI_PB
+        ByteString constructData = roadOverview.getConstructData();
+        if (!constructData.isEmpty()) {
+            construct = MogoV2X.RSI_PB.parseFrom(constructData);
+        }
+        //三角牌 RSI_PB
+        ByteString triangleData = roadOverview.getTriangleData();
+        if (!triangleData.isEmpty()) {
+            triangle = MogoV2X.RSI_PB.parseFrom(triangleData);
+        }
+        //拥堵 RSI_PB
+        ByteString congestionData = roadOverview.getCongestionData();
+        if (!congestionData.isEmpty()) {
+            congestion = MogoV2X.RSI_PB.parseFrom(congestionData);
+        }
+        //违停 ---包含 静态障碍车 RSM_PB
+        ByteString parkingViolationData = roadOverview.getParkingViolationData();
+        if (!parkingViolationData.isEmpty()) {
+            parkingViolation = MogoV2X.RSM_PB.parseFrom(parkingViolationData);
+        }
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("主车路径全局事件推送", raw.receiveTime);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onV2nGlobalPathEvents(raw.getHeader(), roadOverview, construct, triangle, congestion, parkingViolation);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("主车路径全局事件推送", nowTime);
+    }
+}