diff --git a/chart_plugin/src/common/chart_display_base.h b/chart_plugin/src/common/chart_display_base.h
index 580939ee1824ca6154b0fa6ddbe5dd81a751a88c..8a971f74438cce6b00247ef2e9bfb059582e5754 100755
--- a/chart_plugin/src/common/chart_display_base.h
+++ b/chart_plugin/src/common/chart_display_base.h
@@ -113,6 +113,7 @@ protected:
             const uint32_t queueSize = 10;
             sub.subscribe(update_nh_, topic_property_->getTopicStd(), queueSize, transportHint);
             setStatus(rviz::StatusProperty::Ok, "Topic", "OK");
+            setStatus(rviz::StatusProperty::Warn, "Data receiving failure", "No Display data was received in the last 1 second.");
         } catch (ros::Exception &e) {
             setStatus(rviz::StatusProperty::Error, "Topic", QString("Error subscribing: ") + e.what());
         }
@@ -142,6 +143,7 @@ protected:
         ++messagesReceived;
 
         setStatus(rviz::StatusProperty::Ok, "Topic", QString::number(messagesReceived) + " messages received");
+        deleteStatus("Data receiving failure");
         ProcessMessage(msg);
     }
 
diff --git a/chart_plugin/src/curve_display.cpp b/chart_plugin/src/curve_display.cpp
index 55597ff578443a74304ffa044221a5f78cabd3b1..e9b0fb7ae14fba83a51ce0506b4c65b5af7d498f 100755
--- a/chart_plugin/src/curve_display.cpp
+++ b/chart_plugin/src/curve_display.cpp
@@ -31,6 +31,7 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <qwt_plot_layout.h>
 #include <qwt_text_label.h>
 #include <qwt_scale_widget.h>
+#include <qwt_legend_label.h>
 
 #include "common/utils.h"
 
@@ -79,6 +80,10 @@ const double QWTPLOT_AXIS_XBOTTOM_MAX = 0x96;
 const double QWTPLOT_AXIS_YLEFT_MIN = 0x00;
 const double QWTPLOT_AXIS_YLEFT_MAX = 0x0A;
 
+const int32_t LEGEND_WIDGETS_SIZE = 0x01;
+
+const QString LEGEND_STYLE_SHEET = "color: rgb(255, 255, 255)";
+
 enum CurveType {
     FIRST_CURVE,
     SECOND_CURVE,
@@ -208,6 +213,23 @@ const QString CurveDisplay::StringElidedText(const QFont &font, const QString &t
     return strText;
 }
 
+void CurveDisplay::ShowCurve(QwtPlotItem *item, bool isVisible)
+{
+    if (item == nullptr) {
+        return;
+    }
+
+    item->setVisible(isVisible);
+    QwtLegend *legend = qobject_cast<QwtLegend *>(ui.qwtPlot->legend());
+    QList<QWidget *> legendWidgets = legend->legendWidgets(ui.qwtPlot->itemToInfo(item));
+    if (legendWidgets.size() == LEGEND_WIDGETS_SIZE) {
+        QwtLegendLabel *legendLabel = qobject_cast<QwtLegendLabel *>(legendWidgets[0]);
+        if (legendLabel != nullptr) {
+            legendLabel->setChecked(isVisible);
+        }
+    }
+}
+
 void CurveDisplay::UpdateXAxisTitle()
 {
     QwtScaleWidget *scaleWidget = ui.qwtPlot->axisWidget(QwtPlot::xBottom);
@@ -279,7 +301,18 @@ void CurveDisplay::InitQwtPlotStyle()
     // 设置图例的位置
     QwtLegend *legend = new QwtLegend();
 
-    ui.qwtPlot->insertLegend(legend, QwtPlot::BottomLegend);
+    if (legend != nullptr) {
+        legend->setStyleSheet(LEGEND_STYLE_SHEET);
+        legend->setDefaultItemMode(QwtLegendData::Checkable);
+        ui.qwtPlot->insertLegend(legend, QwtPlot::BottomLegend);
+        connect(legend, &QwtLegend::checked, this, [=](const QVariant &itemInfo, bool isVisible, int){
+            QwtPlotItem *plotItem = ui.qwtPlot->infoToItem(itemInfo);
+            if (plotItem != nullptr) {
+                plotItem->setVisible(isVisible);
+            }
+            ui.qwtPlot->replot();
+        });
+    }
 
     // 绘制网格
     grid.setPen(QColor(QWTPLOT_GRID_COLOR_R, QWTPLOT_GRID_COLOR_G, QWTPLOT_GRID_COLOR_B), QWTPLOT_GRID_PEN_WIDTH);
@@ -348,10 +381,12 @@ void CurveDisplay::onInitialize()
     InitCurveStyle(firstCurve, *firstCurveTitleProperty, *firstCurveColorProperty, *firstCurveAlphaProperty);
     // 添加到控件上
     firstCurve.attach(ui.qwtPlot);
+    ShowCurve(&firstCurve, true);
 
     InitCurveStyle(secondCurve, *secondCurveTitleProperty, *secondCurveColorProperty, *secondCurveAlphaProperty);
     // 添加到控件上
     secondCurve.attach(ui.qwtPlot);
+    ShowCurve(&secondCurve, true);
 
     setAssociatedWidget(&widget);
     UpdateCurveChoice();
diff --git a/chart_plugin/src/curve_display.h b/chart_plugin/src/curve_display.h
index 800b132471e99a5f4828f11c3e2a3030e5d652c5..994517c501b72676c28d52e0ac17321711c04246 100755
--- a/chart_plugin/src/curve_display.h
+++ b/chart_plugin/src/curve_display.h
@@ -220,6 +220,14 @@ private:
      */
     const QString StringElidedText(const QFont &font, const QString &text, const int32_t displayAreaWidth);
 
+    /*
+     * 功能：控制当前曲线是否显示
+     * 输入参数：item-当时被控制的曲线，isVisible-控制显隐
+     * 输出参数：无
+     * 返回值：无
+     */
+    void ShowCurve(QwtPlotItem *item, bool isVisible);
+
 private:
     UiCurveWidget ui {};
     QWidget widget {};
diff --git a/chart_plugin/src/slt_space/slt_space_data.cpp b/chart_plugin/src/slt_space/slt_space_data.cpp
index c31a16390a7ba914e69cb6d6cbb173552f71b1bf..e7e49e83d2741cfdd19b0e744226fafbe3fb0e4d 100755
--- a/chart_plugin/src/slt_space/slt_space_data.cpp
+++ b/chart_plugin/src/slt_space/slt_space_data.cpp
@@ -62,17 +62,30 @@ void SltSpaceData::SetObjectsFaceData(const vector<custom::SltPoint> &pointVecto
 {
     objectsMap.clear();
     objectsIdTypeMap.clear();
+    objectsTypeIdMap.clear();
 
     if (pointVector.empty()) {
         return;
     }
 
+    QStringList listId;
     for (const auto &point : pointVector) {
         int32_t type = point.type;
         QString id = QString::fromStdString(point.id);
+        listId.push_back(id);
+        if (!QueueHaveId(id)) {
+            LimitQueueNumber(listId);
+            objectsIdVisibleQueue.enqueue(QPair<QString, bool>(id, true));
+        }
+		
         if (!objectsMap.contains(id)) {
             objectsMap.insert(id, CreateObjectIdData(point));
             objectsIdTypeMap.insert(id, type);
+            QStringList listId = objectsTypeIdMap.value(type);
+            if (!listId.contains(id)) {
+                listId.push_back(id);
+            }
+            objectsTypeIdMap[type] = listId;
             continue;
         }
         objectsMap[id].push_back(mglPoint(point.sValue, point.lValue, point.tValue));
@@ -99,12 +112,42 @@ const QMap<QString, int32_t> &SltSpaceData::GetObjectsIdTypeMap() const
     return objectsIdTypeMap;
 }
 
+const QMap<int32_t, QStringList> &SltSpaceData::GetObjectsTypeIdMap() const
+{
+    return objectsTypeIdMap;
+}
+
+void SltSpaceData::SetObjectVisible(const QString &id, bool isVisible)
+{
+    for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) {
+        if (iter->first == id) {
+            iter->second = isVisible;
+            return;
+        }
+    }
+	
+    objectsIdVisibleQueue.enqueue(QPair<QString, bool>(id, isVisible));
+}
+
+bool SltSpaceData::GetObjectVisible(const QString &id) const
+{
+    for (auto pair : objectsIdVisibleQueue) {
+        if (pair.first == id) {
+            return pair.second;
+        }
+    }
+    return true;
+}
+
 void SltSpaceData::Clear()
 {
+    objectsIdVisibleQueue.clear();
+
     optimizedSltTrack.clear();
     sltSpeedLimit.clear();
     objectsMap.clear();
     objectsIdTypeMap.clear();
+    objectsTypeIdMap.clear();
 }
 
 bool SltSpaceData::Add(const custom::SltSpace::ConstPtr &msg)
@@ -123,4 +166,29 @@ bool SltSpaceData::Add(const custom::SltSpace::ConstPtr &msg)
     }
     return false;
 }
+
+bool SltSpaceData::QueueHaveId(const QString &id)
+{
+    for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) {
+        if (iter->first == id) {
+            return true;
+        }
+    }
+    return false;
+}
+
+void SltSpaceData::LimitQueueNumber(const QStringList &listId)
+{
+    int32_t queueMaxNumber = 1000;
+    if (objectsIdVisibleQueue.count() < queueMaxNumber) {
+        return;
+    }
+
+    for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) {
+        if (!listId.contains(iter->first)) {
+            objectsIdVisibleQueue.erase(iter);
+            return;
+        }
+    }
+}
 } //  namespace chart_plugin
diff --git a/chart_plugin/src/slt_space/slt_space_data.h b/chart_plugin/src/slt_space/slt_space_data.h
index 37d8ce601ccc2bca7b3794465dba8d9b5b495020..214bcaa975beea800f869924b14456eede55d13d 100755
--- a/chart_plugin/src/slt_space/slt_space_data.h
+++ b/chart_plugin/src/slt_space/slt_space_data.h
@@ -28,6 +28,8 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define SLT_SPACE_DATA_H
 
 #include <QMap>
+#include <QQueue>
+#include <QPair>
 #include <mgl2/canvas_wnd.h>
 
 #include "custom/SltSpace.h"
@@ -86,7 +88,31 @@ public:
      * 返回值：QMap障碍物属性数据，障碍物id和其对应type信息
      */
     const QMap<QString, int32_t> &GetObjectsIdTypeMap() const;
+	
+    /*
+     * 功能：获取障碍物属性数据
+     * 输入参数：无
+     * 输出参数：无
+     * 返回值：QMap障碍物属性数据，障碍物type和其对应多个id
+     */
+    const QMap<int32_t, QStringList> &GetObjectsTypeIdMap() const;
 
+    /*
+     * 功能：设置障碍物是否显示
+     * 输入参数：id-障碍物id属性，isVisible-障碍物显隐
+     * 输出参数：无
+     * 返回值：无
+     */
+    void SetObjectVisible(const QString &id, bool isVisible);
+    
+    /*
+     * 功能：获取障碍物是否显示
+     * 输入参数：id-障碍物id属性
+     * 输出参数：无
+     * 返回值：障碍物是否显示
+     */
+    bool GetObjectVisible(const QString &id) const;
+	
 private:
     /*
      * 功能：设置曲线 mglPoint 数据信息
@@ -112,12 +138,31 @@ private:
      */
     std::vector<mglPoint> CreateObjectIdData(const custom::SltPoint &point);
 
+    /*
+     * 功能：查询objectsIdVisibleQueue队列是否有id数据
+     * 输入参数：id-障碍物id属性
+     * 输出参数：无
+     * 返回值：无
+     */
+    bool QueueHaveId(const QString &id);
+	
+    /*
+     * 功能：设置objectsIdVisibleQueue队列上限
+     * 输入参数：listId-障碍物链表
+     * 输出参数：无
+     * 返回值：无
+     */
+    void LimitQueueNumber(const QStringList &listId);
+
 private:
     std::vector<mglPoint> optimizedSltTrack {};
     std::vector<mglPoint> sltSpeedLimit {};
 
     QMap<QString, std::vector<mglPoint>> objectsMap {};
     QMap<QString, int32_t> objectsIdTypeMap {};
+    QMap<int32_t, QStringList> objectsTypeIdMap {};
+
+    QQueue<QPair<QString, bool>> objectsIdVisibleQueue {};
 };
 } // namespace chart_plugin
 
diff --git a/chart_plugin/src/slt_space/slt_space_draw.cpp b/chart_plugin/src/slt_space/slt_space_draw.cpp
index 4d372ef0c8ffa6a211feeb4850f7294851a3527c..99839d45d0f8f3bba2829aa3086bf75a93c9f76f 100755
--- a/chart_plugin/src/slt_space/slt_space_draw.cpp
+++ b/chart_plugin/src/slt_space/slt_space_draw.cpp
@@ -108,46 +108,45 @@ void SltSpaceDraw::DrawObjects(mglGraph *mglGraphPtr) const
 
     const auto sltObjectsMap = spaceDataPtr->GetObjectsMap();
     const auto objectsIdType = spaceDataPtr->GetObjectsIdTypeMap();
-    QList<int32_t> listType = objectsIdType.values();
-    qSort(listType.begin(), listType.end());
-
-    for (auto type : listType) {
-        vector<mglPoint> objectData = sltObjectsMap.value(objectsIdType.key(type));
-        if (objectData.size() != OBJECT_DATA_NUM_SIZE) {
-            continue;
-        }
-        QString objectId = objectsIdType.key(type);
-        spaceDisplayPtr->SetObjectProperty(type);
-        auto objectIdLegendIter = (spaceDisplayPtr->GetObjectsIdLegendMap()).find(objectId);
-        if (objectIdLegendIter != (spaceDisplayPtr->GetObjectsIdLegendMap()).end() &&
-            !((*objectIdLegendIter).second)->isChecked()) {
-            continue;
-        }
-
-        auto objectsTypeColorPropertyMap = spaceDisplayPtr->GetObjectsTypeColorPropertyMap();
-        if (!objectsTypeColorPropertyMap.contains(type) || objectsTypeColorPropertyMap[type] == nullptr) {
-            continue;
-        }
-        QColor color = objectsTypeColorPropertyMap[type]->getColor();
-        QString colorFaceFormat = COLOR_FACE_PREFIX + color.name().mid(0x1) + COLOR_FACE_SUFFIX;
-        mglGraphPtr->Face(objectData[OBJECT_DATA_NUM0], objectData[OBJECT_DATA_NUM1], objectData[OBJECT_DATA_NUM3],
+    const auto objectsTypeId = spaceDataPtr->GetObjectsTypeIdMap();
+
+    for (auto iter = objectsTypeId.begin(); iter != objectsTypeId.end(); iter++) {
+        int32_t objectType = iter.key();
+        QStringList listId = iter.value();
+        qSort(listId.begin(), listId.end());
+        for (auto objectId : listId) {
+            vector<mglPoint> objectData = sltObjectsMap.value(objectId);
+            if (objectData.size() != OBJECT_DATA_NUM_SIZE) {
+                continue;
+            }
+            spaceDisplayPtr->SetObjectProperty(objectType);
+            if (!spaceDataPtr->GetObjectVisible(objectId)) {
+                continue;
+            }
+
+            QColor color = (spaceDisplayPtr->GetObjectsTypeColorPropertyMap())[objectType]->getColor();
+            QString colorFaceFormat = COLOR_FACE_PREFIX + color.name().mid(0x1) + COLOR_FACE_SUFFIX;
+            mglGraphPtr->Face(objectData[OBJECT_DATA_NUM0], objectData[OBJECT_DATA_NUM1], objectData[OBJECT_DATA_NUM3],
             objectData[OBJECT_DATA_NUM2], colorFaceFormat.toStdString().c_str());
-        mglGraphPtr->Face(objectData[OBJECT_DATA_NUM2], objectData[OBJECT_DATA_NUM3], objectData[OBJECT_DATA_NUM6],
+            mglGraphPtr->Face(objectData[OBJECT_DATA_NUM2], objectData[OBJECT_DATA_NUM3], objectData[OBJECT_DATA_NUM6],
             objectData[OBJECT_DATA_NUM7], colorFaceFormat.toStdString().c_str());
-        mglGraphPtr->Face(objectData[OBJECT_DATA_NUM6], objectData[OBJECT_DATA_NUM7], objectData[OBJECT_DATA_NUM5],
+            mglGraphPtr->Face(objectData[OBJECT_DATA_NUM6], objectData[OBJECT_DATA_NUM7], objectData[OBJECT_DATA_NUM5],
             objectData[OBJECT_DATA_NUM4], colorFaceFormat.toStdString().c_str());
-        mglGraphPtr->Face(objectData[OBJECT_DATA_NUM0], objectData[OBJECT_DATA_NUM1], objectData[OBJECT_DATA_NUM4],
+            mglGraphPtr->Face(objectData[OBJECT_DATA_NUM0], objectData[OBJECT_DATA_NUM1], objectData[OBJECT_DATA_NUM4],
             objectData[OBJECT_DATA_NUM5], colorFaceFormat.toStdString().c_str());
-        mglGraphPtr->Face(objectData[OBJECT_DATA_NUM1], objectData[OBJECT_DATA_NUM2], objectData[OBJECT_DATA_NUM5],
+            mglGraphPtr->Face(objectData[OBJECT_DATA_NUM1], objectData[OBJECT_DATA_NUM2], objectData[OBJECT_DATA_NUM5],
             objectData[OBJECT_DATA_NUM6], colorFaceFormat.toStdString().c_str());
-        mglGraphPtr->Face(objectData[OBJECT_DATA_NUM0], objectData[OBJECT_DATA_NUM3], objectData[OBJECT_DATA_NUM4],
+            mglGraphPtr->Face(objectData[OBJECT_DATA_NUM0], objectData[OBJECT_DATA_NUM3], objectData[	OBJECT_DATA_NUM4],
             objectData[OBJECT_DATA_NUM7], colorFaceFormat.toStdString().c_str());
+        }
     }
 
     if (spaceDisplayPtr->GetIsTopicMessageComing()) {
         spaceDisplayPtr->SetIsTopicMessageComing(false);
         spaceDisplayPtr->CreateObjectsLegend(objectsIdType);
         spaceDisplayPtr->UpdateLegend();
+    } else {
+        spaceDisplayPtr->UpdateLegend();
     }
 }
 
diff --git a/chart_plugin/src/slt_space_display.cpp b/chart_plugin/src/slt_space_display.cpp
index ee930e5515ffe8016a3340c1ff1d9d19269c587a..4a4362b9ec2fa06e0eeaafc417ccd6f5d8d8df2c 100755
--- a/chart_plugin/src/slt_space_display.cpp
+++ b/chart_plugin/src/slt_space_display.cpp
@@ -70,6 +70,8 @@ bool SltSpaceDisplay::eventFilter(QObject *obj, QEvent *e)
 
 void SltSpaceDisplay::ClearData()
 {
+    optimizedCurveLegend->setChecked(true);
+    speedLimitCurveLegend->setChecked(true);
     sltSpaceData.Clear();
 }
 
@@ -322,6 +324,10 @@ const QIcon SltSpaceDisplay::GenerateLegendIcon(const QColor &color, LegendType
 
 void SltSpaceDisplay::CreateObjectsLegend(const QMap<QString, int32_t> &objectsIdType)
 {
+    if (!objectsIdLegendMap.empty()) {
+        objectsIdLegendMap.clear();
+    }
+	
     for (auto iter = objectsIdType.begin(); iter != objectsIdType.end(); iter++) {
         QString objectId = iter.key();
         int32_t objectType = iter.value();
@@ -342,7 +348,7 @@ void SltSpaceDisplay::CreateObjectsLegend(const QMap<QString, int32_t> &objectsI
             QString("%1: %2").arg(objectsTypeTitlePropertyMap[objectType]->getString()).arg(objectId));
         QObject::connect(buttonLegend.get(), SIGNAL(toggled(bool)), this, SLOT(UpdateMathglDraw()));
         objectsIdLegendMap.insert(std::make_pair(objectId, std::move(buttonLegend)));
-        objectsIdLegendMap[objectId]->setChecked(true);
+        objectsIdLegendMap[objectId]->setChecked(sltSpaceData.GetObjectVisible(objectId));
     }
 }
 
@@ -432,10 +438,16 @@ void SltSpaceDisplay::UpdateGridLayoutItem()
     ui.GetGridLayout()->addItem(horizontalSpacerLeft, 1, 0, 1, 1);
     ui.GetGridLayout()->addItem(horizontalSpacerRight, 1, column - 1, 1, 1);
 
-    const auto &objectsIdTypeMap = sltSpaceData.GetObjectsIdTypeMap();
-    
-    QList<int32_t> listType = objectsIdTypeMap.values();
-    qSort(listType.begin(), listType.end());
+    const auto &objectsTypeIdMap = sltSpaceData.GetObjectsTypeIdMap();
+
+    QList<int32_t> listType = objectsTypeIdMap.keys();
+
+    QStringList listId;
+    for (auto type : listType) {
+        QStringList listObjectId = objectsTypeIdMap.value(type);
+        qSort(listObjectId.begin(), listObjectId.end());
+        listId << listObjectId;
+    }
 
     int32_t k = 0;
     // 从第1行第1列位置开始放置图例按钮，遍历网格图例按钮放置区域(row - 2)行乘(column - 2)列个放置空间
@@ -450,14 +462,16 @@ void SltSpaceDisplay::UpdateGridLayoutItem()
                 ui.GetGridLayout()->addWidget(speedLimitCurveLegend, i, j, 1, 1);
                 speedLimitCurveLegend->show();
                 // 只有当整个障碍物图例按钮都还没有遍历安置完毕，网格布局器才安置图例按钮
-            } else if (k < listType.count()) {
-                auto objectIdLegendIter = objectsIdLegendMap.find(objectsIdTypeMap.key(listType.at(k)));
+            } else if (k < listId.count()) {
+                QString objectId = listId.at(k);
+				
+                auto objectIdLegendIter = objectsIdLegendMap.find(objectId);
                 if ((objectIdLegendIter == objectsIdLegendMap.end()) || (objectIdLegendIter->second == nullptr)) {
                     k++;
                     continue;
                 }
-                ui.GetGridLayout()->addWidget(objectsIdLegendMap[objectsIdTypeMap.key(listType.at(k))].get(), i, j, 1, 1);
-                objectsIdLegendMap[objectsIdTypeMap.key(listType.at(k))]->show();
+                ui.GetGridLayout()->addWidget(objectsIdLegendMap[objectId].get(), i, j, 1, 1);
+                objectsIdLegendMap[objectId]->show();
                 k++;
             }
         }
@@ -546,8 +560,17 @@ void SltSpaceDisplay::onInitialize()
     QObject::connect(ui.GetRestoreButton(), SIGNAL(pressed()), this, SLOT(UpdateMathglZoomAndRotation()));
 }
 
-void SltSpaceDisplay::UpdateMathglDraw() const
+void SltSpaceDisplay::UpdateMathglDraw()
 {
+    QPushButton *button = qobject_cast<QPushButton*>(sender());
+    if (button != nullptr) {
+        for (auto iter = objectsIdLegendMap.begin(); iter != objectsIdLegendMap.end(); iter++) {
+            if (iter->second.get() == button) {
+                sltSpaceData.SetObjectVisible(iter->first, button->isChecked());
+            }
+        }
+    }
+
     UpdateDrawQMathGl();
 }
 
diff --git a/chart_plugin/src/slt_space_display.h b/chart_plugin/src/slt_space_display.h
index 4e052b0837c25f5d77831fd298fde69211ff4b1e..1419982866b92aabe1a658b92de0b013d59b6265 100755
--- a/chart_plugin/src/slt_space_display.h
+++ b/chart_plugin/src/slt_space_display.h
@@ -213,7 +213,7 @@ public Q_SLOTS:
      * 输出参数：无
      * 返回值：无
      */
-    void UpdateMathglDraw() const;
+    void UpdateMathglDraw();
 
     /*
      * 功能：恢复mathgl画布为默认视角
diff --git a/chart_plugin/src/st_space/st_space_data.cpp b/chart_plugin/src/st_space/st_space_data.cpp
index fe0e11985b75ee016a2762087b1b72a05a31dae3..42c7ba38a379841e0340e5c8d04335cb492e8a5d 100755
--- a/chart_plugin/src/st_space/st_space_data.cpp
+++ b/chart_plugin/src/st_space/st_space_data.cpp
@@ -54,19 +54,33 @@ void StSpaceData::SetObjectsCurveData(const vector<custom::StPoint> &pointVector
 {
     objectsMap.clear();
     objectsIdTypeMap.clear();
+    objectsTypeIdMap.clear();
 
     if (pointVector.empty()) {
         return;
     }
 
+    QStringList listId;
     for (const auto &point : pointVector) {
         int32_t type = point.type;
         QString id = QString::fromStdString(point.id);
+
+        listId.push_back(id);
+        if (!QueueHaveId(id)) {
+            LimitQueueNumber(listId);
+            objectsIdVisibleQueue.enqueue(QPair<QString, bool>(id, true));
+        }
+
         if (!objectsMap.contains(id)) {
             QPolygonF objectIdNew;
             objectIdNew.append(QPointF(point.tValue, point.sValue));
             objectsMap.insert(id, objectIdNew);
             objectsIdTypeMap.insert(id, type);
+            QStringList listId = objectsTypeIdMap.value(type);
+            if (!listId.contains(id)) {
+                listId.push_back(id);
+                objectsTypeIdMap.insert(type, listId);
+            }
             continue;
         }
         objectsMap[id].append(QPointF(point.tValue, point.sValue));
@@ -98,13 +112,43 @@ const QMap<QString, int32_t> &StSpaceData::GetObjectsIdTypeMap() const
     return objectsIdTypeMap;
 }
 
+const QMap<int32_t, QStringList> &StSpaceData::GetObjectsTypeIdMap() const
+{
+    return objectsTypeIdMap;
+}
+
+void StSpaceData::SetObjectVisible(const QString &id, bool isVisible)
+{
+    for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) {
+        if (iter->first == id) {
+            iter->second = isVisible;
+            return;
+        }
+    }
+
+    objectsIdVisibleQueue.enqueue(QPair<QString, bool>(id, isVisible));
+}
+
+bool StSpaceData::GetObjectVisible(const QString &id) const
+{
+    for (auto pair : objectsIdVisibleQueue) {
+        if (pair.first == id) {
+            return pair.second;
+        }
+    }
+    return true;
+}
+
 void StSpaceData::Clear()
 {
+    objectsIdVisibleQueue.clear();
+
     firstStTrack.clear();
     optimizedStTrack.clear();
     stSpeedLimit.clear();
     objectsMap.clear();
     objectsIdTypeMap.clear();
+    objectsTypeIdMap.clear();
 }
 
 bool StSpaceData::Add(const custom::StSpace::ConstPtr &msg)
@@ -125,4 +169,29 @@ bool StSpaceData::Add(const custom::StSpace::ConstPtr &msg)
     }
     return false;
 }
+
+bool StSpaceData::QueueHaveId(const QString &id)
+{
+    for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) {
+        if (iter->first == id) {
+            return true;
+        }
+    }
+    return false;
+}
+
+void StSpaceData::LimitQueueNumber(const QStringList &listId)
+{
+    int32_t queueMaxNumber = 1000;
+    if (objectsIdVisibleQueue.count() < queueMaxNumber) {
+        return;
+    }
+
+    for (auto iter = objectsIdVisibleQueue.begin(); iter != objectsIdVisibleQueue.end(); iter++) {
+        if (!listId.contains(iter->first)) {
+            objectsIdVisibleQueue.erase(iter);
+            return;
+        }
+    }
+}
 } //  namespace chart_plugin
diff --git a/chart_plugin/src/st_space/st_space_data.h b/chart_plugin/src/st_space/st_space_data.h
index 31b7fa3ce1c1c9f71f137d9c63360874bc9becca..a028f9f6bccd09f2f302c54fad0f7fc1d81855a8 100755
--- a/chart_plugin/src/st_space/st_space_data.h
+++ b/chart_plugin/src/st_space/st_space_data.h
@@ -29,6 +29,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <QPolygonF>
 #include <QMap>
+#include <QQueue>
+#include <QPair>
 
 #include "custom/StSpace.h"
 
@@ -94,6 +96,30 @@ public:
      * 返回值：QMap障碍物属性数据，障碍物id和其对应type信息
      */
     const QMap<QString, int32_t> &GetObjectsIdTypeMap() const;
+	
+    /*
+     * 功能：获取障碍物属性数据
+     * 输入参数：无
+     * 输出参数：无
+     * 返回值：QMap障碍物属性数据，障碍物type和其对应id信息
+     */
+    const QMap<int32_t, QStringList> &GetObjectsTypeIdMap() const;
+
+    /*
+     * 功能：设置障碍物是否显示
+     * 输入参数：id-障碍物id属性，isVisible-障碍物显隐
+     * 输出参数：无
+     * 返回值：无
+     */
+    void SetObjectVisible(const QString &id, bool isVisible);
+    
+    /*
+     * 功能：获取障碍物是否显示
+     * 输入参数：id-障碍物id属性
+     * 输出参数：无
+     * 返回值：障碍物是否显示
+     */
+    bool GetObjectVisible(const QString &id) const;
 
 private:
     /*
@@ -111,6 +137,22 @@ private:
      * 返回值：无
      */
     void SetObjectsCurveData(const std::vector<custom::StPoint> &pointVector);
+	
+    /*
+     * 功能：查询objectsIdVisibleQueue队列是否有id数据
+     * 输入参数：id-障碍物id属性
+     * 输出参数：无
+     * 返回值：无
+     */
+    bool QueueHaveId(const QString &id);
+	
+    /*
+     * 功能：设置objectsIdVisibleQueue队列上限
+     * 输入参数：listId-障碍物链表
+     * 输出参数：无
+     * 返回值：无
+     */
+    void LimitQueueNumber(const QStringList &listId);
 
 private:
     QPolygonF firstStTrack {};
@@ -119,6 +161,9 @@ private:
 
     QMap<QString, QPolygonF> objectsMap {};
     QMap<QString, int32_t> objectsIdTypeMap {};
+    QMap<int32_t, QStringList> objectsTypeIdMap {};
+
+    QQueue<QPair<QString, bool>> objectsIdVisibleQueue {};
 };
 } // namespace chart_plugin
 
diff --git a/chart_plugin/src/st_space/ui_st_widget.cpp b/chart_plugin/src/st_space/ui_st_widget.cpp
index e9381be45e15fdda7778d3d94bbbc3bb5ffeb8ac..0cd8bdb52e06bfde4607c8c5ec9a7d7e9307bca2 100755
--- a/chart_plugin/src/st_space/ui_st_widget.cpp
+++ b/chart_plugin/src/st_space/ui_st_widget.cpp
@@ -35,10 +35,10 @@ const QString QWT_PLOT_NAME = QString::fromUtf8("qwtPlot");
 const int32_t WIDGET_WIDTH = 572;
 const int32_t WIDGET_HEIGHT = 327;
 const int32_t WIDGET_MIN_WIDTH = 320;
-const int32_t WIDGET_MIN_HEIGHT = 180;
+const int32_t WIDGET_MIN_HEIGHT = 260;
 
 const int32_t QWTPLOT_MIN_WIDTH = 240;
-const int32_t QWTPLOT_MIN_HEIGHT = 120;
+const int32_t QWTPLOT_MIN_HEIGHT = 230;
 const int32_t QWTPLOT_LINEWIDTH = 1;
 
 const int32_t QSPACER_ITEM_WIDTH = 40;
@@ -357,19 +357,11 @@ void UiStWidget::SetupUi(QWidget &widget)
     InitPalette(palette);
     widget.setPalette(palette);
     widget.setAutoFillBackground(true);
-    verticalLayout = new (std::nothrow) QVBoxLayout(&widget);
-    if (verticalLayout == nullptr) {
-        ROS_ERROR("Failed to Create the verticalLayout of QVBoxLayout.");
-        return;
-    }
-
+    
+    verticalLayout = new QVBoxLayout(&widget);
     verticalLayout->setObjectName(VERTICALL_LAYOUT_NAME);
-    qwtPlot = new (std::nothrow) QwtPlot(&widget);
-    if (qwtPlot == nullptr) {
-        ROS_ERROR("Failed to Create the qwtPlot of QwtPlot.");
-        return;
-    }
-
+    
+    qwtPlot = new QwtPlot(&widget);
     qwtPlot->setObjectName(QWT_PLOT_NAME);
     qwtPlot->setMinimumSize(QSize(QWTPLOT_MIN_WIDTH, QWTPLOT_MIN_HEIGHT));
     qwtPlot->setFrameShape(QFrame::NoFrame);
diff --git a/chart_plugin/src/st_space_display.cpp b/chart_plugin/src/st_space_display.cpp
index 0aec9380374534694d5233509aa18e62a7bd3e54..72d15615922a9b2faa5533214604e9a107c1d151 100755
--- a/chart_plugin/src/st_space_display.cpp
+++ b/chart_plugin/src/st_space_display.cpp
@@ -327,6 +327,11 @@ void StSpaceDisplay::LegendChecked(const QVariant &itemInfo, bool isVisible)
 
     if (plotItem != nullptr) {
         plotItem->setVisible(isVisible);
+        for (auto iter = stObjectsCurveMap.begin(); iter != stObjectsCurveMap.end(); iter++) {
+            if (plotItem == iter->second.get()) {
+                stSpaceData.SetObjectVisible(iter->first, isVisible);
+            }
+        }
     }
 
     ui.qwtPlot->replot();
@@ -686,42 +691,38 @@ void StSpaceDisplay::SetObjectProperty(int32_t objectType)
     objectsTypeAlphaProperty.insert(objectType, objectsTypeAlphaPropertyPtr);
 }
 
-void StSpaceDisplay::ShowObjectsCurve(const QMap<QString, int32_t> &objectsIdType,
-    const QMap<QString, QPolygonF> &stObjectsMap)
+void StSpaceDisplay::ShowObjects(const QMap<QString, QPolygonF> &stObjectsMap)
 {
-    if((!stObjectsCurveMap.empty()) && (stObjectsCurveMap.size() == stObjectsMap.size())) {
-        for (auto &stObjectsCurve : stObjectsCurveMap) {
-            stObjectsCurve.second->setSamples(stObjectsMap.value(stObjectsCurve.first));
-        }
-        return;
-    }
+    auto objectsTypeId = stSpaceData.GetObjectsTypeIdMap();
 
     if (!stObjectsCurveMap.empty()) {
         stObjectsCurveMap.clear();
     }
 
-    QList<int32_t> listType = objectsIdType.values();
-    qSort(listType.begin(), listType.end());
+    QList<int32_t> listType = objectsTypeId.keys();
 
-    for (auto type : listType) {
-        QString objectId = objectsIdType.key(type);
-        SetObjectProperty(type);
-        if (!objectsTypeTitleProperty.contains(type) || objectsTypeTitleProperty[type] == nullptr) {
-            continue;
+    for (auto objectType : listType) {
+        QStringList listId = objectsTypeId.value(objectType);
+        qSort(listId.begin(), listId.end());
+        for (auto objectId : listId) {
+            SetObjectProperty(objectType);
+            if (!objectsTypeTitleProperty.contains(objectType) || objectsTypeTitleProperty[objectType] == nullptr) {
+                continue;
+            }
+            QString objectName = QString("%1: %2").arg(objectsTypeTitleProperty[objectType]->getString()).arg(objectId);
+            QColor color = GetObjectsTypeColor(objectType);
+            unique_ptr<QwtPlotCurve> curve = make_unique<QwtPlotCurve>(objectName);
+            curve->setTitle(objectName);
+            color.setAlpha(objectsTypeAlphaProperty[objectType]->getFloat() * 0xFF);
+            curve->setPen(color, OBJECT_CURVE_PEN_WIDTH);
+            curve->setBrush(color);
+            curve->setRenderHint(QwtPlotItem::RenderAntialiased, true);
+            curve->setLegendAttribute(curve->LegendShowBrush);
+            curve->attach(ui.qwtPlot);
+            curve->setSamples(stObjectsMap.value(objectId));
+            ShowCurve(curve.get(), stSpaceData.GetObjectVisible(objectId));
+            stObjectsCurveMap.insert(std::make_pair(objectId, std::move(curve)));
         }
-        QString objectName = QString("%1: %2").arg(objectsTypeTitleProperty[type]->getString()).arg(objectId);
-        QColor color = GetObjectsTypeColor(type);
-        unique_ptr<QwtPlotCurve> curve = make_unique<QwtPlotCurve>(objectName);
-        curve->setTitle(objectName);
-        color.setAlpha(objectsTypeAlphaProperty[type]->getFloat() * 0xFF);
-        curve->setPen(color, OBJECT_CURVE_PEN_WIDTH);
-        curve->setBrush(color);
-        curve->setRenderHint(QwtPlotItem::RenderAntialiased, true);
-        curve->setLegendAttribute(curve->LegendShowBrush);
-        curve->attach(ui.qwtPlot);
-        curve->setSamples(stObjectsMap.value(objectId));
-        ShowCurve(curve.get(), true);
-        stObjectsCurveMap.insert(std::make_pair(objectId, std::move(curve)));
     }
 }
 
@@ -731,8 +732,7 @@ void StSpaceDisplay::DrawObjects(const QMap<QString, QPolygonF> &stObjectsMap)
         return;
     }
 
-    const QMap<QString, int32_t> objectsIdType = stSpaceData.GetObjectsIdTypeMap();
-    ShowObjectsCurve(objectsIdType, stObjectsMap);
+    ShowObjects(stObjectsMap);
     UpdateObjectsTypeChoice();
 }
 
@@ -767,6 +767,10 @@ void StSpaceDisplay::ProcessMessage(const custom::StSpace::ConstPtr &message)
 
 void StSpaceDisplay::ClearData()
 {
+    ShowCurve(&firstStTrackCurve, true);
+    ShowCurve(&optimizedStTrackCurve, true);
+    ShowCurve(&stSpeedLimitCurve, true);
+
     stSpaceData.Clear();
 }
 
@@ -784,14 +788,9 @@ void StSpaceDisplay::ReplotEmptyData()
     ui.qwtPlot->replot();
 }
 
-void StSpaceDisplay::reset()
-{
-    ChartDisplayClass::reset();
-    ClearData();
-}
-
 void StSpaceDisplay::updateTopic()
 {
+    ClearData();
     ReplotEmptyData();
     sub.unsubscribe();
     stObjectsCurveMap.clear();
diff --git a/chart_plugin/src/st_space_display.h b/chart_plugin/src/st_space_display.h
index 3067554c5d62a46d91c43d6f561a74fe8bb67d01..a53510b9951bc55455aba6e7c93e69aeb08cf2bc 100755
--- a/chart_plugin/src/st_space_display.h
+++ b/chart_plugin/src/st_space_display.h
@@ -60,14 +60,6 @@ public:
      */
     void onInitialize() override;
 
-    /*
-     * 功能：通知rviz Display清除其状态，同时这里也清除自己的topic数据，继承自父类并重写
-     * 输入参数：无
-     * 输出参数：无
-     * 返回值：无
-     */
-    void reset() override;
-
     /*
      * 功能：加载配置文件，继承自父类并重写
      * 输入参数：Config
@@ -370,11 +362,11 @@ private:
 
     /*
      * 功能：创建并显示障碍物曲线信息
-     * 输入参数：objectsIdType-障碍物的Id和对应的类型，stObjectsMap-障碍物的Id和对应的数据
+     * 输入参数：stObjectsMap-障碍物的Id和对应的数据
      * 输出参数：无
      * 返回值：无
      */
-    void ShowObjectsCurve(const QMap<QString, int32_t> &objectsIdType, const QMap<QString, QPolygonF> &stObjectsMap);
+    void ShowObjects(const QMap<QString, QPolygonF> &stObjectsMap);
 
     /*
      * 功能：更新当前第一条曲线的属性选项的控制展示