diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
index e3842fcf82..39861e1082 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/BaseSweeperTabFragment.java
@@ -59,6 +59,7 @@ import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask;
 import java.math.BigDecimal;
 import java.math.RoundingMode;
 import java.util.ArrayList;
+import java.util.Random;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -213,6 +214,24 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         findViewById(R.id.btnSendTaskStatus).setOnClickListener(view ->
                 SweeperCloudTaskUtils.mockSendCloudBigTaskStatus()
         );
+        // 模拟 添加高精地图Marker
+        findViewById(R.id.btnAddHDMarker).setOnClickListener(view -> {
+                    // 坐标地址：湖南省衡阳市雁峰区金龙坪街道科学城大道衡山科学城停车场
+                    SweeperCloudTaskUtils.mockAddHdMarker("marker_sweeper_subtask_123_start",
+                            112.57742887355035,
+                            26.82068193910221,
+                            true);
+                    // 坐标地址：湖南省衡阳市雁峰区岳屏镇雁鸣路
+                    SweeperCloudTaskUtils.mockAddHdMarker("marker_sweeper_subtask_123_end",
+                            112.56666738544979,
+                            26.822879976829867,
+                            false);
+                }
+        );
+        // 模拟 移除高精地图Marker
+        findViewById(R.id.btnRemoveHDMarker).setOnClickListener(view ->
+                SweeperCloudTaskUtils.mockRemoveHDMarker()
+        );
         mTrafficDataView.getSpeedImage().setOnLongClickListener(new View.OnLongClickListener() {
             @Override
             public boolean onLongClick(View v) {
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
index 3a71d851a5..153f21fe8d 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -883,8 +883,8 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         val hdMarkerIdStart = "marker_sweeper_subtask_${subTask.subTaskId}_start"
         val hdMarkerIdEnd = "marker_sweeper_subtask_${subTask.subTaskId}_end"
 
-        val setStartMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdStart, startPoint.longitude, startPoint.latitude, true)
-        val setEndMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdEnd, endPoint.longitude, endPoint.latitude, false)
+        val setStartMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdStart, startPoint.wgsLongitude, startPoint.wgsLatitude, true)
+        val setEndMarkerRunnable = createSetHDMapMakerRunnable(hdMarkerIdEnd, endPoint.wgsLongitude, endPoint.wgsLatitude, false)
         val removeMarkerRunnable = createRemoveHDMapMakerRunnable()
 
         val addSubTaskHDMarkRunnable = Runnable {
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
index 2f59cc17cf..9e353f8ac9 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/util/SweeperCloudTaskUtils.kt
@@ -1,15 +1,22 @@
 package com.mogo.och.sweepercloud.util
 
 import android.content.Context
+import android.util.Log
 import com.elegant.utils.UiThreadHandler
 import com.google.protobuf.MessageOrBuilder
 import com.google.protobuf.TextFormat
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.map.overlay.core.Level
+import com.mogo.map.overlay.point.Point
 import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.common.module.voice.VoiceNotice
+import com.mogo.och.sweepercloud.R
 import com.mogo.och.sweepercloud.callback.SweeperCloudDialogClickListener
+import com.mogo.och.sweepercloud.constant.SweeperConst
 import com.mogo.och.sweepercloud.model.SweeperTaskModel
 import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudDialog
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask.MessageType
@@ -232,6 +239,53 @@ object SweeperCloudTaskUtils {
         }, 10000)
     }
 
+    /**
+     * 模式添加高精地图Marker
+     */
+    @JvmStatic
+    fun mockAddHdMarker(uuid: String, longitude: Double, latitude: Double, isStartMarker: Boolean) {
+         //开启线程执行起终点marker设置
+        val setMapMarkerRunnable = Runnable {
+            val builder =
+                Point.Options.Builder(SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END, Level.MAP_MARKER)
+                    .setId(uuid)
+                    .anchor(0.5f, 0.5f)
+                    .set3DMode(true)
+                    .isUseGps(true)
+                    .controlAngle(true)
+                    .icon3DRes(if (isStartMarker) R.raw.star_marker else R.raw.end_marker)
+                    .longitude(longitude)
+                    .latitude(latitude)
+            val mapUIController = CallerMapUIServiceManager.getMapUIController()
+            if (mapUIController != null) {
+                val centerLine = mapUIController.getCenterLineInfo(longitude, latitude, -1f)
+                if (null != centerLine) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致 地图未初始化会返回空
+                    val angle = centerLine.angle
+                    if (angle != null) {
+                        builder.rotate(angle.toFloat())
+                    }
+                }
+            }
+            val overlayManager = CallerMapUIServiceManager.getOverlayManager()
+            Log.d(TAG, "CallerMapUIServiceManager.getOverlayManager()=$overlayManager")
+            overlayManager?.showOrUpdatePoint(builder.build())
+        }
+        OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
+    }
+
+    /**
+     * 模拟 移除高精地图Marker
+     */
+    @JvmStatic
+    fun mockRemoveHDMarker() {
+        //开启线程移除起终点marker设置
+        val removeMapMarkerRunnable = Runnable {
+            val overlayManager = CallerMapUIServiceManager.getOverlayManager()
+            overlayManager?.removeAllPointsInOwner(SweeperConst.TYPE_MARKER_SWEEPER_SUBTASK_START_END)
+        }
+        OCHThreadPoolManager.getsInstance().execute(removeMapMarkerRunnable)
+    }
+
     private fun getDriverSn(): String? {
         return MoGoAiCloudClientConfig.getInstance().sn
     }
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
index f600703e61..84ca2a9137 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_base_fragment.xml
@@ -256,13 +256,35 @@
         app:layout_constraintRight_toRightOf="@id/btnSendSubtaskStatus"
         app:layout_constraintTop_toBottomOf="@id/btnSendSubtaskStatus" />
 
+    <Button
+        android:id="@+id/btnAddHDMarker"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:background="#000000"
+        android:text="添加高精地图Marker"
+        android:textColor="#f30"
+        android:textSize="30sp"
+        app:layout_constraintRight_toRightOf="@id/btnSendTaskStatus"
+        app:layout_constraintTop_toBottomOf="@id/btnSendTaskStatus" />
+
+    <Button
+        android:id="@+id/btnRemoveHDMarker"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:background="#000000"
+        android:text="移除高精地图Marker"
+        android:textColor="#a90"
+        android:textSize="30sp"
+        app:layout_constraintRight_toRightOf="@id/btnAddHDMarker"
+        app:layout_constraintTop_toBottomOf="@id/btnAddHDMarker" />
+
     <androidx.constraintlayout.widget.Group
         android:id="@+id/groupTestPanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:visibility="gone"
         app:constraint_referenced_ids="btnStartAutopilot,btnQueryCurrentTask,btnSendTask,btnSendSubTaskConfirm,btnSendEndTask
-        ,btnSendSubtaskStatus,btnSendTaskStatus"
+        ,btnSendSubtaskStatus,btnSendTaskStatus,btnAddHDMarker,btnRemoveHDMarker"
         tools:visibility="visible" />