diff --git a/chart_plugin/src/slt_space/slt_space_draw.cpp b/chart_plugin/src/slt_space/slt_space_draw.cpp
index 83efdc82d18c777dee038df015a8a8590102aba1..4d372ef0c8ffa6a211feeb4850f7294851a3527c 100755
--- a/chart_plugin/src/slt_space/slt_space_draw.cpp
+++ b/chart_plugin/src/slt_space/slt_space_draw.cpp
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2020-2021, Huawei Technologies Co., Ltd
+Copyright (c) 2020-2022, Huawei Technologies Co., Ltd
  All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
@@ -108,13 +108,15 @@ void SltSpaceDraw::DrawObjects(mglGraph *mglGraphPtr) const
 
     const auto sltObjectsMap = spaceDataPtr->GetObjectsMap();
     const auto objectsIdType = spaceDataPtr->GetObjectsIdTypeMap();
-    for (auto iter = sltObjectsMap.begin(); iter != sltObjectsMap.end(); iter++) {
-        vector<mglPoint> objectData = iter.value();
+    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 = iter.key();
-        int32_t type = objectsIdType.value(objectId);
+        QString objectId = objectsIdType.key(type);
         spaceDisplayPtr->SetObjectProperty(type);
         auto objectIdLegendIter = (spaceDisplayPtr->GetObjectsIdLegendMap()).find(objectId);
         if (objectIdLegendIter != (spaceDisplayPtr->GetObjectsIdLegendMap()).end() &&
diff --git a/chart_plugin/src/slt_space_display.cpp b/chart_plugin/src/slt_space_display.cpp
index 6b3b2c96e7164691239049a16de4ba3eb281ddd0..ee930e5515ffe8016a3340c1ff1d9d19269c587a 100755
--- a/chart_plugin/src/slt_space_display.cpp
+++ b/chart_plugin/src/slt_space_display.cpp
@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2020-2021, Huawei Technologies Co., Ltd
+Copyright (c) 2020-2022, Huawei Technologies Co., Ltd
  All rights reserved.
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
@@ -75,36 +75,20 @@ void SltSpaceDisplay::ClearData()
 
 void SltSpaceDisplay::InitTitleProperty()
 {
-    plotTitleProperty = new (std::nothrow)
+    plotTitleProperty = new
         StringProperty("Chart Title", "SLT", "Chart title name property.", this, SLOT(UpdateMathglDraw()), this);
-    if (plotTitleProperty == nullptr) {
-        ROS_ERROR("Failed to create the plotTitleProperty.");
-        return;
-    }
     plotTitleProperty->setReadOnly(true);
 
-    xAxisTitleProperty = new (std::nothrow)
+    xAxisTitleProperty = new
         StringProperty("X Axis Title", "S[m]", "X Axis title name property.", this, SLOT(UpdateMathglDraw()), this);
-    if (xAxisTitleProperty == nullptr) {
-        ROS_ERROR("Failed to create the xAxisTitleProperty.");
-        return;
-    }
     xAxisTitleProperty->setReadOnly(true);
 
-    yAxisTitleProperty = new (std::nothrow)
+    yAxisTitleProperty = new
         StringProperty("Y Axis Title", "L[m]", "Y Axis title name property.", this, SLOT(UpdateMathglDraw()), this);
-    if (yAxisTitleProperty == nullptr) {
-        ROS_ERROR("Failed to create the yAxisTitleProperty.");
-        return;
-    }
     yAxisTitleProperty->setReadOnly(true);
 
-    zAxisTitleProperty = new (std::nothrow)
+    zAxisTitleProperty = new
         StringProperty("Z Axis Title", "T[s]", "Z Axis title name property.", this, SLOT(UpdateMathglDraw()), this);
-    if (zAxisTitleProperty == nullptr) {
-        ROS_ERROR("Failed to create the zAxisTitleProperty.");
-        return;
-    }
     zAxisTitleProperty->setReadOnly(true);
 }
 
@@ -117,44 +101,24 @@ void SltSpaceDisplay::InitCurveProperty()
     const int32_t speedLimitCurveColorG = 0xFF;
     const int32_t speedLimitCurveColorB = 0xC1;
 
-    curveProperty = new (std::nothrow)
+    curveProperty = new
         EnumProperty("Curve", "Optimized Track", "Curve type setting selection.", this, SLOT(UpdateCurveChoice()));
-    if (curveProperty == nullptr) {
-        ROS_ERROR("Failed to create the curveProperty.");
-        return;
-    }
     curveProperty->addOption("Optimized Track", OPTIMIZED_TRACK_CURVE);
     curveProperty->addOption("Speed Limit", SPEED_LIMIT_CURVE);
 
-    optimizedCurveTitleProperty = new (std::nothrow) StringProperty("Optimized Title", "Optimized Track",
+    optimizedCurveTitleProperty = new StringProperty("Optimized Title", "Optimized Track",
         "Optimized curve title property setting.", curveProperty, SLOT(UpdateOptimizedCurveTitle()), this);
-    if (optimizedCurveTitleProperty == nullptr) {
-        ROS_ERROR("Failed to create the optimizedCurveTitleProperty.");
-        return;
-    }
 
-    optimizedCurveColorProperty = new (std::nothrow)
+    optimizedCurveColorProperty = new
         ColorProperty("Optimized Color", QColor(optimizedCurveColorR, optimizedCurveColorG, optimizedCurveColorB),
         "Color of the Optimized Slt Track Curve.", curveProperty, SLOT(UpdateOptimizedCurveColor()), this);
-    if (optimizedCurveColorProperty == nullptr) {
-        ROS_ERROR("Failed to create the optimizedCurveColorProperty.");
-        return;
-    }
 
-    speedLimitCurveTitleProperty = new (std::nothrow) StringProperty("Speed Title", "Speed Limit",
+    speedLimitCurveTitleProperty = new StringProperty("Speed Title", "Speed Limit",
         "Slt Speed Limit curve title property setting.", curveProperty, SLOT(UpdateSpeedLimitCurveTitle()), this);
-    if (speedLimitCurveTitleProperty == nullptr) {
-        ROS_ERROR("Failed to create the speedLimitCurveTitleProperty.");
-        return;
-    }
 
-    speedLimitCurveColorProperty = new (std::nothrow)
+    speedLimitCurveColorProperty = new
         ColorProperty("Speed Color", QColor(speedLimitCurveColorR, speedLimitCurveColorG, speedLimitCurveColorB),
         "Color of the Slt Speed Limit Curve.", curveProperty, SLOT(UpdateSpeedLimitCurveColor()), this);
-    if (speedLimitCurveColorProperty == nullptr) {
-        ROS_ERROR("Failed to create the speedLimitCurveColorProperty.");
-        return;
-    }
 }
 
 void SltSpaceDisplay::InitProperty()
@@ -201,13 +165,9 @@ void SltSpaceDisplay::CreateObjectsTypeProperty(int32_t type)
 
     objectsTypeTotalVector.append(type);
     if (objectsTypeProperty == nullptr) {
-        objectsTypeProperty = new (std::nothrow) EnumProperty("Objects Type", typeName,
+        objectsTypeProperty = new EnumProperty("Objects Type", typeName,
             "Slt Objects Type setting selection.", this, SLOT(UpdateObjectsTypeChoice()));
     }
-    if (objectsTypeProperty == nullptr) {
-        ROS_ERROR("Failed to create the objectsTypeProperty.");
-        return;
-    }
     objectsTypeProperty->addOption(typeName, type);
 }
 
@@ -269,12 +229,8 @@ void SltSpaceDisplay::CreateObjectProperty(const QString &propertyKey, const QSt
         int32_t green = colorChannelValue[1].toInt();
         int32_t blue = colorChannelValue[2].toInt(); // 取colorChannelValue中第2个元素
         QColor color = QColor(red, green, blue);
-        ColorProperty *objectsTypeColorPropertyPtr = new (std::nothrow) ColorProperty(propertyKey, color,
+        ColorProperty *objectsTypeColorPropertyPtr = new ColorProperty(propertyKey, color,
             "Objects type color setting.", objectsTypeProperty, SLOT(UpdateObjectsTypeColor()), this);
-        if (objectsTypeColorPropertyPtr == nullptr) {
-            ROS_ERROR("Failed to Create the objectsTypeColorPropertyPtr of ColorProperty.");
-            return;
-        }
 
         SetObjectsTypeColor(type, red, green, blue);
         objectsTypeColorPropertyMap.insert(type, objectsTypeColorPropertyPtr);
@@ -282,12 +238,8 @@ void SltSpaceDisplay::CreateObjectProperty(const QString &propertyKey, const QSt
     }
 
     if (keyList.contains("Title")) {
-        StringProperty *objectsTypeTitlePropertyPtr = new (std::nothrow) StringProperty(propertyKey, propertyValue,
+        StringProperty *objectsTypeTitlePropertyPtr = new StringProperty(propertyKey, propertyValue,
             "Objects type title setting.", objectsTypeProperty, SLOT(UpdateObjectsTypeTitle()), this);
-        if (objectsTypeTitlePropertyPtr == nullptr) {
-            ROS_ERROR("Failed to Create the objectsTypeTitlePropertyPtr of StringProperty.");
-            return;
-        }
 
         objectsTypeTitlePropertyMap.insert(type, objectsTypeTitlePropertyPtr);
     }
@@ -313,11 +265,7 @@ void SltSpaceDisplay::load(const rviz::Config &config)
 void SltSpaceDisplay::CreateOptimizedLegend()
 {
     if (optimizedCurveLegend == nullptr) {
-        optimizedCurveLegend = new (std::nothrow) QPushButton(ui.GetScrollAreaWidgetContents());
-        if (optimizedCurveLegend == nullptr) {
-            ROS_ERROR("Failed to Create the optimizedCurveLegend of QPushButton.");
-            return;
-        }
+        optimizedCurveLegend = new QPushButton(ui.GetScrollAreaWidgetContents());
         QObject::connect(optimizedCurveLegend, SIGNAL(toggled(bool)), this, SLOT(UpdateMathglDraw()));
     }
 
@@ -333,11 +281,7 @@ void SltSpaceDisplay::CreateOptimizedLegend()
 void SltSpaceDisplay::CreateSpeedLegend()
 {
     if (speedLimitCurveLegend == nullptr) {
-        speedLimitCurveLegend = new (std::nothrow) QPushButton(ui.GetScrollAreaWidgetContents());
-        if (speedLimitCurveLegend == nullptr) {
-            ROS_ERROR("Failed to Create the speedLimitCurveLegend of QPushButton.");
-            return;
-        }
+        speedLimitCurveLegend = new QPushButton(ui.GetScrollAreaWidgetContents());
         QObject::connect(speedLimitCurveLegend, SIGNAL(toggled(bool)), this, SLOT(UpdateMathglDraw()));
     }
 
@@ -489,7 +433,11 @@ void SltSpaceDisplay::UpdateGridLayoutItem()
     ui.GetGridLayout()->addItem(horizontalSpacerRight, 1, column - 1, 1, 1);
 
     const auto &objectsIdTypeMap = sltSpaceData.GetObjectsIdTypeMap();
-    auto iter = objectsIdTypeMap.cbegin();
+    
+    QList<int32_t> listType = objectsIdTypeMap.values();
+    qSort(listType.begin(), listType.end());
+
+    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
     for (int32_t i = 1; i <= row - 2; i++) {
         // 共有（column - 2）列是安置图例按钮的
@@ -502,15 +450,15 @@ 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 (iter != objectsIdTypeMap.cend()) {
-                auto objectIdLegendIter = objectsIdLegendMap.find(iter.key());
+            } else if (k < listType.count()) {
+                auto objectIdLegendIter = objectsIdLegendMap.find(objectsIdTypeMap.key(listType.at(k)));
                 if ((objectIdLegendIter == objectsIdLegendMap.end()) || (objectIdLegendIter->second == nullptr)) {
-                    iter++;
+                    k++;
                     continue;
                 }
-                ui.GetGridLayout()->addWidget(objectsIdLegendMap[iter.key()].get(), i, j, 1, 1);
-                objectsIdLegendMap[iter.key()]->show();
-                iter++;
+                ui.GetGridLayout()->addWidget(objectsIdLegendMap[objectsIdTypeMap.key(listType.at(k))].get(), i, j, 1, 1);
+                objectsIdLegendMap[objectsIdTypeMap.key(listType.at(k))]->show();
+                k++;
             }
         }
     }
@@ -531,36 +479,20 @@ void SltSpaceDisplay::InitLegendSpacerItem()
     const int32_t horizontalHeight = 20;
 
     verticalSpacerTop =
-        new (std::nothrow) QSpacerItem(verticalWidth, verticalHeightTop, QSizePolicy::Minimum, QSizePolicy::Expanding);
-    if (verticalSpacerTop == nullptr) {
-        ROS_ERROR("Failed to Create the verticalSpacerTop of QSpacerItem.");
-        return;
-    }
+        new QSpacerItem(verticalWidth, verticalHeightTop, QSizePolicy::Minimum, QSizePolicy::Expanding);
 
     ui.GetGridLayout()->addItem(verticalSpacerTop, 0, 1, 1, 1);
-    verticalSpacerBottom = new (std::nothrow)
+    verticalSpacerBottom = new
         QSpacerItem(verticalWidth, verticalHeightBottom, QSizePolicy::Minimum, QSizePolicy::Expanding);
-    if (verticalSpacerBottom == nullptr) {
-        ROS_ERROR("Failed to Create the verticalSpacerBottom of QSpacerItem.");
-        return;
-    }
 
     // 底部垂直弹簧放置第2行第1列，占据1行1列
     ui.GetGridLayout()->addItem(verticalSpacerBottom, 2, 1, 1, 1);
     horizontalSpacerLeft =
-        new (std::nothrow) QSpacerItem(horizontalWidth, horizontalHeight, QSizePolicy::Expanding, QSizePolicy::Minimum);
-    if (horizontalSpacerLeft == nullptr) {
-        ROS_ERROR("Failed to Create the horizontalSpacerLeft of QSpacerItem.");
-        return;
-    }
+        new QSpacerItem(horizontalWidth, horizontalHeight, QSizePolicy::Expanding, QSizePolicy::Minimum);
 
     ui.GetGridLayout()->addItem(horizontalSpacerLeft, 1, 0, 1, 1);
     horizontalSpacerRight =
-        new (std::nothrow) QSpacerItem(horizontalWidth, horizontalHeight, QSizePolicy::Expanding, QSizePolicy::Minimum);
-    if (horizontalSpacerRight == nullptr) {
-        ROS_ERROR("Failed to Create the horizontalSpacerRight of QSpacerItem.");
-        return;
-    }
+        new QSpacerItem(horizontalWidth, horizontalHeight, QSizePolicy::Expanding, QSizePolicy::Minimum);
 
     // 默认安装位置为第1行第3列，占据1行1列
     ui.GetGridLayout()->addItem(horizontalSpacerRight, 1, 3, 1, 1);
@@ -603,11 +535,7 @@ void SltSpaceDisplay::onInitialize()
     graph.Clf(mglGraphColorR, mglGraphColorG, mglGraphColorB);
     ui.GetQMathGl()->setGraph(&graph);
 
-    SltSpaceDraw *spaceDraw = new (std::nothrow) SltSpaceDraw(this, &sltSpaceData);
-    if (spaceDraw == nullptr) {
-        ROS_ERROR("Failed to Create the spaceDraw of SltSpaceDraw.");
-        return;
-    }
+    SltSpaceDraw *spaceDraw = new SltSpaceDraw(this, &sltSpaceData);
 
     ui.GetQMathGl()->setDraw(spaceDraw);
     ui.GetQMathGl()->setDotsPreview(false);
@@ -734,32 +662,20 @@ void SltSpaceDisplay::SetObjectProperty(int32_t objectType)
 
     objectsTypeTotalVector.append(objectType);
     if (objectsTypeProperty == nullptr) {
-        objectsTypeProperty = new (std::nothrow) EnumProperty("Object Type", QString("Type %1").arg(objectType),
+        objectsTypeProperty = new EnumProperty("Object Type", QString("Type %1").arg(objectType),
             "Slt Objects Type setting selection.", this, SLOT(UpdateObjectsTypeChoice()));
-        if (objectsTypeProperty == nullptr) {
-            ROS_ERROR("Failed to Create the objectsTypeProperty of EnumProperty.");
-            return;
-        }
     }
 
     QString typeName = QString("Type %1").arg(objectType);
     objectsTypeProperty->addOption(typeName, objectType);
     StringProperty *objectsTypeTitlePropertyPtr =
-        new (std::nothrow) StringProperty(QString("Type %1 Title").arg(objectType), QString("Type %1").arg(objectType),
+        new StringProperty(QString("Type %1 Title").arg(objectType), QString("Type %1").arg(objectType),
         "Objects type title setting.", objectsTypeProperty, SLOT(UpdateObjectsTypeTitle()), this);
-    if (objectsTypeTitlePropertyPtr == nullptr) {
-        ROS_ERROR("Failed to Create the objectsTypeTitlePropertyPtr of StringProperty.");
-        return;
-    }
 
     QColor color = GetObjectsTypeColor(objectType);
     ColorProperty *objectsTypeColorPropertyPtr =
-        new (std::nothrow) ColorProperty(QString("Type %1 Color").arg(objectType), color, "Objects type color setting.",
+        new  ColorProperty(QString("Type %1 Color").arg(objectType), color, "Objects type color setting.",
         objectsTypeProperty, SLOT(UpdateObjectsTypeColor()), this);
-    if (objectsTypeColorPropertyPtr == nullptr) {
-        ROS_ERROR("Failed to Create the objectsTypeColorPropertyPtr of ColorProperty.");
-        return;
-    }
 
     objectsTypeTitlePropertyMap.insert(objectType, objectsTypeTitlePropertyPtr);
     objectsTypeColorPropertyMap.insert(objectType, objectsTypeColorPropertyPtr);
diff --git a/chart_plugin/src/st_space_display.cpp b/chart_plugin/src/st_space_display.cpp
index a70738241e4ee62af2d719fbde5e17c2615dd255..0aec9380374534694d5233509aa18e62a7bd3e54 100755
--- a/chart_plugin/src/st_space_display.cpp
+++ b/chart_plugin/src/st_space_display.cpp
@@ -700,20 +700,11 @@ void StSpaceDisplay::ShowObjectsCurve(const QMap<QString, int32_t> &objectsIdTyp
         stObjectsCurveMap.clear();
     }
 
-    QStringList typeNames = stObjectsMap.keys();
-    for (int32_t i = 0; i < typeNames.count() - 1; i++) {
-        for (int32_t j = i + 1; j < typeNames.count(); j++) {
-            if (objectsIdType.value(typeNames.at(i)) > objectsIdType.value(typeNames.at(j))) {
-                QString typeName = typeNames.at(i);
-                typeNames[i] = typeNames.at(j);
-                typeNames[j] = typeName;
-            }
-        }
-    }
+    QList<int32_t> listType = objectsIdType.values();
+    qSort(listType.begin(), listType.end());
 
-    for (auto typeName : typeNames) {
-        QString objectId = typeName;
-        int32_t type = objectsIdType.value(objectId);
+    for (auto type : listType) {
+        QString objectId = objectsIdType.key(type);
         SetObjectProperty(type);
         if (!objectsTypeTitleProperty.contains(type) || objectsTypeTitleProperty[type] == nullptr) {
             continue;