diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/bean/QueryCurrentOrderResponse.kt b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/bean/QueryCurrentOrderResponse.kt
index 33b553b552..92955a1bef 100644
--- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/bean/QueryCurrentOrderResponse.kt
+++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/bean/QueryCurrentOrderResponse.kt
@@ -17,8 +17,8 @@ data class QueryCurrentOrderResponse(var data: Result):BaseData(){ //线路id ,
         var startSiteName: String,
         var siteId: Int,
         var siteName: String,
-        var wgs84Lon: Double,
-        var wgs84Lat: Double,
+        var wgs84Lon: Double = 0.0,
+        var wgs84Lat: Double = 0.0,
         var startTime: Long,
         var endTime: Long,
         var passengerPhone: String
diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
index 73ff92fa59..ca7cdca25d 100644
--- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
+++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
@@ -5,6 +5,7 @@ import android.net.ConnectivityManager
 import android.os.Handler
 import com.alibaba.android.arouter.launcher.ARouter
 import com.alibaba.android.arouter.utils.TextUtils
+import com.amap.api.maps.model.LatLng
 import com.elegant.network.utils.GsonUtil
 import com.magic.mogo.och.charter.R
 import com.magic.mogo.och.charter.bean.CheckOrderCountDownResponse
@@ -14,6 +15,7 @@ import com.magic.mogo.och.charter.bean.QueryRoutesResponse
 import com.magic.mogo.och.charter.callback.ChangeDestCallback
 import com.magic.mogo.och.charter.callback.DriverM1OrderCallback
 import com.magic.mogo.och.charter.callback.IDriverM1ControllerStatusCallback
+import com.magic.mogo.och.charter.constant.CharterConst
 import com.magic.mogo.och.charter.net.DriverM1ServiceManager
 import com.mogo.aicloud.services.socket.IMogoOnMessageListener
 import com.mogo.commons.AbsMogoApplication
@@ -33,10 +35,7 @@ import com.mogo.eagle.core.function.call.telematic.CallerTelematicListenerManage
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager.sendMsgToAllClients
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import com.mogo.eagle.core.utilcode.util.GsonUtils
-import com.mogo.eagle.core.utilcode.util.NetworkUtils
-import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.och.common.module.bean.dpmsg.*
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager.pushAppOperationalMsgBox
@@ -67,10 +66,7 @@ class DriverM1Model {
     var mLatitude = 0.0
     private var mContext: Context? = null
 
-    /**
-     * 用来表示是否正在开往下一站
-     */
-    private var isGoingToNextStation = false
+    private var isArrivedStation: Boolean = false
 
     // 运营类型
     private val MSG_QUERY_BUS_STATION: Int = 1001
@@ -351,34 +347,37 @@ class DriverM1Model {
                 mLongitude = gnssInfo.longitude
                 mLatitude = gnssInfo.latitude
 
-                //是否到站的围栏判断 离站状态并且自动驾驶还未触发到站
-//                if (isGoingToNextStation && !isArrivedStation) {
-//                    judgeArrivedStation(gnssInfo)
-//                }
+                //是否到站的围栏判断 自动驾驶还未触发到站
+                if (!isArrivedStation) {
+                    judgeArrivedStation(gnssInfo)
+                }
             }
         }
 
     //根据围栏判断，是否到达站点
     private fun judgeArrivedStation(location: MogoLocation) {
-//        if (backgroundCurrentStationIndex + 1 > stationList!!.size - 1) {
-//            e(SceneConstant.M_CHARTER_D + TAG, "到站数组越界")
-//            return
-//        }
-//        val upcomingStation: BusStationBean = stationList[backgroundCurrentStationIndex + 1]
-//        val startLon: Double = upcomingStation.getGcjLon()
-//        val startLat: Double = upcomingStation.getGcjLat()
-//        val distance = CoordinateUtils.calculateLineDistance(
-//            startLon, startLat,
-//            location.longitude, location.latitude
-//        ).toDouble()
-//        if (distance <= CharterConst.ARRIVE_AT_END_STATION_DISTANCE) {
-//            d(
-//                SceneConstant.M_CHARTER_D + TAG, "行程日志-judgeArrivedStation() distance = " + distance
-//                        + " to " + upcomingStation.getName()
-//            )
-//            onArriveAt(null) //无自动驾驶到站信息传null
-//            return
-//        }
+        if (mCurrentOrder == null) {
+            d(SceneConstant.M_CHARTER_D + TAG, "no order")
+            return
+        }
+        val latLng: LatLng = CoordinateCalculateRouteUtil
+            .coordinateConverterWgsToGcj(mContext,mCurrentOrder?.wgs84Lon!!,mCurrentOrder?.wgs84Lat!!)
+        val distance = CoordinateUtils.calculateLineDistance(
+            latLng.longitude, latLng.latitude,
+            location.longitude, location.latitude
+        ).toDouble()
+        if (distance <= CharterConst.ARRIVE_AT_END_STATION_DISTANCE) {
+            d(
+                SceneConstant.M_CHARTER_D + TAG, "行程日志-judgeArrivedStation() distance = " + distance
+                        + " to " + mCurrentOrder?.siteName
+            )
+            onArriveAt() //无自动驾驶到站信息传null
+            return
+        }
+    }
+
+    private fun onArriveAt() {
+       // todo 需要告诉前后外屏到站
     }
 
     /**
@@ -387,7 +386,7 @@ class DriverM1Model {
      * @param isRestart
      */
     private fun startAutopilot() {
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+        if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
             ToastUtils.showLong(
                 OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
                         ", 请稍候重试"
@@ -423,13 +422,13 @@ class DriverM1Model {
      * 在踩刹车、控制方向盘等操作后，会停止自动驾驶，重启自动驾驶的话相当于重新设置自动驾驶目的地
      */
     fun restartAutopilot() {
-        d(SceneConstant.M_CHARTER_D + TAG, "司机端-启动自动驾驶===$isGoingToNextStation")
+        d(SceneConstant.M_CHARTER_D + TAG, "司机端-启动自动驾驶===")
         //只去启动自动驾驶
         startAutopilot()
     }
 
-    fun isGoingToNextStation(): Boolean {
-        return isGoingToNextStation
+    fun isHaveOrder(): Boolean {
+        return mCurrentOrder == null
     }
 
     // 登出
@@ -542,6 +541,7 @@ class DriverM1Model {
             override fun onSuccess(data: BaseData?) {
                 if (data != null && data.code == 0){
                     mOrderCallback?.updateReturnCarStatus(true)
+                    queryCurrentServiceStatus()
                 }
             }
 
@@ -585,7 +585,10 @@ class DriverM1Model {
         DriverM1ServiceManager.queryCurrentOrder(mContext
             ,object: OchCommonServiceCallback<QueryCurrentOrderResponse>{
                 override fun onSuccess(data: QueryCurrentOrderResponse?) {
-                    if (data == null || data.code != 0 || mCurrentOrder === data.data) return
+                    if (data == null || data.code != 0 || mCurrentOrder === data.data){
+                        isArrivedStation = false
+                        return
+                    }
                     d(SceneConstant.M_CHARTER_D + TAG, "queryCurrentOrder order =" +
                             GsonUtils.toJson(data.data))
                     mCurrentOrder = data.data
@@ -676,4 +679,9 @@ class DriverM1Model {
 
               })
     }
+
+    fun onAutopilotArriveAtStation() {
+        if (isArrivedStation) return
+        onArriveAt()
+    }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
index 1c1e48ab2b..7adc772c21 100644
--- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
+++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/presenter/DriverM1Presenter.kt
@@ -20,6 +20,7 @@ import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManag
 import com.mogo.och.common.module.biz.constant.LoginStatusManager.isLogin
 import com.mogo.och.common.module.manager.OCHPlanningStopSideStatusManager
 import com.mogo.och.common.module.utils.DateTimeUtil
+import mogo.telematics.pad.MessagePad
 
 /**
  * @author: wangmingjun
@@ -82,7 +83,7 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
 
     fun restartAutopilot() {
         // todo 启动自驾必须有订单路线
-        if (DriverM1Model.get().isGoingToNextStation()) {
+        if (DriverM1Model.get().isHaveOrder()) {
             DriverM1Model.get().restartAutopilot()
         }
     }
@@ -115,6 +116,10 @@ class DriverM1Presenter(view: DriverM1Fragment?) :
         DriverM1Model.get().changeDest()
     }
 
+    override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
+        DriverM1Model.get().onAutopilotArriveAtStation()
+    }
+
     override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
         val status = autoPilotStatusInfo.state
         if (mCurrentAutopilotStatus == status) return