diff --git a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
index 5ecbcb1992..d91c62fc57 100644
--- a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
+++ b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
@@ -270,14 +270,16 @@ class PM2DrivingModel private constructor() {
                     d(SceneConstant.M_BUS_P + TAG, "可以接受轨迹")
                 }
                 d(SceneConstant.M_BUS_P + TAG, "接受轨迹中")
-                updateRoutePoints(it.wayPointsList)
+                it.wayPointsList?.let {list->
+                    updateRoutePoints(list)
+                }
             }
         }
 
     }
 
     @Synchronized
-    fun updateRoutePoints(routePoints: List<MessagePad.Location>?) {
+    fun updateRoutePoints(routePoints: List<MessagePad.Location>) {
         mRoutePoints.clear()
         val latLngModels = CoordinateCalculateRouteUtil
             .coordinateConverterWgsToGcjLocations(mContext, routePoints)
@@ -487,7 +489,7 @@ class PM2DrivingModel private constructor() {
                 .getArrivedPointIndexNew(
                     mWipePreIndex,
                     mRoutePoints,
-                    mLocation
+                    mLocation!!
                 )
             mWipePreIndex = haveArrivedIndex
             d(SceneConstant.M_BUS_P + TAG,
@@ -518,7 +520,7 @@ class PM2DrivingModel private constructor() {
 
         if (mTwoStationsRouts.size > 0 && mLocation != null) {
             val lastPointsMap = CoordinateCalculateRouteUtil
-                .getRemainPointListByCompareNew(mPreRouteIndex, mTwoStationsRouts, mLocation)
+                .getRemainPointListByCompareNew(mPreRouteIndex, mTwoStationsRouts, mLocation!!)
             for (index in lastPointsMap.keys) {
                 mPreRouteIndex = index
                 break
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 a59f2c0fd7..0714e5ddc3 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
@@ -22,6 +22,7 @@ import com.mogo.och.sweepercloud.ui.dialog.SweeperCloudLoadingDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createConfirmStartSubTaskDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createReceivedTaskInfoDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskEndDialog
+import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskExceptionEndDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.createSweeperTaskNormalEndDialog
 import com.mogo.och.sweepercloud.util.SweeperCloudTaskUtils.printMessage
 import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
@@ -121,6 +122,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         }
     }
 
+    override fun setAutoState(state: Int) {
+        super.setAutoState(state)
+        getCurrentView().updateStartAutoPilotBtnState(state)
+    }
+
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
         mCleanSystemState = cleanSystemState
         sweeper_cl_work_mode.setSweeperFutianCleanSystemState(mSubTaskType, cleanSystemState)
@@ -338,6 +344,32 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         })
     }
 
+    /**
+     * 大任务异常结束弹窗（异常 / 取消）
+     */
+    private fun sweeperCloudTaskExceptionEndDialog(isCancel: Boolean): SweeperCloudDialog? {
+        return createSweeperTaskExceptionEndDialog(context, object : SweeperCloudDialogClickListener {
+            override fun onConfirm() {
+                ToastUtils.showLong("任务已结束")
+                resetTaskInfoPanel()
+            }
+
+            override fun onRefuseOrEnd() {
+
+            }
+
+            override fun onCountDownStop() {
+                ToastUtils.showLong("任务已结束")
+                resetTaskInfoPanel()
+            }
+
+            override fun onNext() {
+
+            }
+
+        }, isCancel)
+    }
+
     /**
      * 云端同步大任务状态
      */
@@ -356,7 +388,11 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                 if (mDialog != null && mDialog!!.isShowing) {
                     return
                 }
-                mDialog = sweeperCloudTaskNormalEndDialog()
+                mDialog = if (subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE
+                               || subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.ABNORMAL)
+                              sweeperCloudTaskExceptionEndDialog(subTaskStatus == SweeperBigTaskStatus.BigTaskStatus.CANCLE)
+                          else
+                              sweeperCloudTaskNormalEndDialog()
                 mDialog?.show()
                 showNotice("任务已结束")
             }
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
index fd3b224b17..349be74b75 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/model/SweeperTaskModel.java
@@ -660,13 +660,11 @@ public class SweeperTaskModel implements IMoGoSweeperFutianCloudTaskListener, IM
 
     @Override
     public void onAutopilotStatusResponse(int state) {
-        IMoGoAutopilotStatusListener.super.onAutopilotStatusResponse(state);
         // TODO: 2023/6/19 bingbing
     }
 
     @Override
     public void onAutopilotDockerInfo(@NonNull String dockerVersion) {
-        IMoGoAutopilotStatusListener.super.onAutopilotDockerInfo(dockerVersion);
         // TODO: 2023/6/19 bingbing
     }
 }
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 25fb456c39..9bcd53b6be 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
@@ -337,6 +337,27 @@ object SweeperCloudTaskUtils {
         return context?.let { it1 -> builder.build(it1) }
     }
 
+    /**
+     * 任务异常结束弹窗 （异常 / 取消）
+     */
+    @JvmStatic
+    fun createSweeperTaskExceptionEndDialog(
+        context: Context?,
+        listener: SweeperCloudDialogClickListener?,
+        isCancel: Boolean
+    ): SweeperCloudDialog? {
+        var builder: SweeperCloudDialog.Builder = SweeperCloudDialog.Builder()
+        builder.titleStr = "任务结束"
+        builder.contentStr = if (isCancel) "任务已取消！" else "任务已异常结束！"
+        builder.tipStr = ""
+        builder.leftStr = "确认"
+        builder.middleStr = ""
+        builder.rightStr = ""
+        builder.countDownTime = 10
+        builder.listener = listener
+        return context?.let { it1 -> builder.build(it1) }
+    }
+
     @JvmStatic
     fun printMessage(message: MessageOrBuilder): String {
         return "\n"+TextFormat.printer().escapingNonAscii(false).printToString(message)
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
index 3bdbcea852..41b06aae2d 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -1,11 +1,13 @@
 package com.mogo.och.sweepercloud.view
 
 import android.content.Context
+import android.graphics.Color
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
 import android.widget.TextView
 import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.sweepercloud.R
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
@@ -27,8 +29,20 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
         initView(context)
     }
 
-    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(context, attrs, defStyleAttr) {}
-    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int, defStyleRes: Int) : super(context, attrs, defStyleAttr, defStyleRes) {}
+    constructor(context: Context, attrs: AttributeSet?, defStyleAttr: Int) : super(
+        context,
+        attrs,
+        defStyleAttr
+    ) {
+    }
+
+    constructor(
+        context: Context,
+        attrs: AttributeSet?,
+        defStyleAttr: Int,
+        defStyleRes: Int
+    ) : super(context, attrs, defStyleAttr, defStyleRes) {
+    }
 
     private fun initView(context: Context) {
         LayoutInflater.from(context).inflate(R.layout.sweeper_current_task_info, this)
@@ -39,6 +53,34 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
         return tvStartAuto
     }
 
+    /**
+     * 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式
+     */
+    fun updateStartAutoPilotBtnState(autopilotState: Int) {
+        when (autopilotState) {
+            //不可自动驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+            //人工驾驶
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
+                tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
+                tvStartAuto.isSelected = true
+            }
+            //自动驾驶中
+            IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+            //平行驾驶
+            IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {
+                tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+                tvStartAuto.isSelected = false
+            }
+        }
+    }
+
     /**
      * 设置当前任务数据
      */
@@ -51,12 +93,13 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
             tvTaskName.text = taskName
             val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
             val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
-            tvTaskTime.text = "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
-                DateTimeUtil.formatCalendarToString(
-                    calendarEnd,
-                    DateTimeUtil.HH_mm
-                )
-            }"
+            tvTaskTime.text =
+                "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
+                    DateTimeUtil.formatCalendarToString(
+                        calendarEnd,
+                        DateTimeUtil.HH_mm
+                    )
+                }"
         }
         listTask?.let {
             //特殊处理当前暂无执行中任务的情况
@@ -75,10 +118,10 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
      */
     private fun setSubTaskState(isWorking: Boolean) {
         if (isWorking) {
-            tvTaskState.text = "正在作业"
+            tvTaskState.text = "任务执行中"
             tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
         } else {
-            tvTaskState.text = "暂未准备"
+            tvTaskState.text = "任务待开始"
             tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
         }
     }
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml
index 6d189929bc..ea710c45e4 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/drawable/sweeper_upload_autopoiltstate.xml
@@ -1,10 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <selector xmlns:android="http://schemas.android.com/apk/res/android">
-    <item>
+    <item android:state_selected="true">
         <shape android:shape="rectangle">
-
-            <corners android:bottomRightRadius="30dp" android:bottomLeftRadius="@dimen/dp_30"/>
+            <corners android:bottomLeftRadius="@dimen/dp_30" android:bottomRightRadius="@dimen/dp_30" />
             <gradient android:angle="180" android:endColor="#2F6EFF" android:startColor="#20AAFF" />
         </shape>
     </item>
+    <item android:state_selected="false">
+        <shape>
+            <solid android:color="#4D2F6EFF" />
+            <corners android:bottomLeftRadius="@dimen/dp_30" android:bottomRightRadius="@dimen/dp_30" />
+        </shape>
+    </item>
 </selector>
\ No newline at end of file
diff --git a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml
index f2e743be58..34be95b606 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml
+++ b/OCH/sweeper/sweeper-cloud/src/main/res/layout/sweeper_work_mode.xml
@@ -26,7 +26,7 @@
             android:layout_height="wrap_content"
             android:layout_marginStart="@dimen/dp_36"
             android:layout_marginTop="@dimen/dp_20"
-            android:text="当前作业模式："
+            android:text="当前上装模式："
             android:textColor="@color/white"
             android:textSize="@dimen/dp_32"
             app:layout_constraintStart_toStartOf="parent"
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index 8e0b9fff59..876a5a4af2 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -322,6 +322,7 @@ class MoGoAutopilotControlProvider :
         CallerLogger.d("$M_D_C$TAG", "结束记录包: [$cmdId, $result]")
     }
 
+
     @ChainLog(
         linkChainLog = AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT,
         linkCode = AdasChain.CHAIN_SOURCE_ADAS,
@@ -329,14 +330,42 @@ class MoGoAutopilotControlProvider :
         paramIndexes = [0]
     )
     override fun startAutoPilot(controlParameters: AutopilotControlParameters) {
+        startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.PAD)
+    }
+
+    //todo chainlog
+    override fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        if (controlParameters==null){
+            startAutoPilotWithNoParameter(Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }else{
+            startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
+        }
+    }
+    private fun startAutoPilotWithNoParameter(source: Int) {
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             val invokeResult = AdasManager.getInstance()
-                .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                .sendAutoPilotModeReq(1, source, null)
+            invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+        } else {
+            if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
+                val invokeResult = AdasManager.getInstance()
+                    .sendAutoPilotModeReq(1, source, null)
+                invokeAutoPilotResult(if (invokeResult) "无参自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
+            } else {
+                invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
+                CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法开启自动驾驶")
+            }
+        }
+    }
+    private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
+        if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
+            val invokeResult = AdasManager.getInstance()
+                .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
             invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
             if (AdasManager.getInstance().ipcConnectionStatus == IPC_CONNECTION_STATUS.CONNECTED) {
                 val invokeResult = AdasManager.getInstance()
-                    .sendAutoPilotModeReq(1, 1, controlParameters.toRouteInfo())
+                    .sendAutoPilotModeReq(1, source, controlParameters.toRouteInfo())
                 invokeAutoPilotResult(if (invokeResult) "自动驾驶调用成功" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
             } else {
                 invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
index 8f521ee60e..1895d2c79c 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
@@ -99,6 +99,7 @@ class ChainConstant {
 
         //operation by user
         const val CHAIN_CODE_OCH_TAXI_START_AUTOPILOT = "CHAIN_CODE_OCH_TAXI_START_AUTOPILOT"
+        const val CHAIN_CODE_OCH_TAXI_START_AUTOPILOT_MOFANG = "CHAIN_CODE_OCH_TAXI_START_AUTOPILOT_MOFANG"
         const val CHAIN_CODE_OCH_COMMON_DISTANCE = "CHAIN_CODE_OCH_COMMON_DISTANCE"
         const val CHAIN_CODE_EAGLE_START_AUTOPILOT = "CHAIN_CODE_EAGLE_START_AUTOPILOT"
         const val CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT = "CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT"
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
index 04c852589a..88d8661d52 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -38,6 +38,13 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      */
     fun startAutoPilot(controlParameters: AutopilotControlParameters)
 
+    /**
+     * 开启自动驾驶(魔方)
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?)
+
     /**
      * 给工控机透出路口红绿灯信息
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index b55d391eb6..b0e9ea0777 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -7,10 +7,10 @@ import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
-import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_EAGLE_START_AUTOPILOT
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_SOURCE_ADAS
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_TYPE_SOCKET_AUTOPILOT
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_OCH_TAXI_START_AUTOPILOT_MOFANG
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotControlProvider
 import com.mogo.eagle.core.function.call.base.CallerBase
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
@@ -71,6 +71,23 @@ object CallerAutoPilotControlManager {
         CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
     }
 
+    /**
+     * 开启自动驾驶
+     *
+     * @param controlParameters 开启自动驾驶的控制参数
+     */
+    @ChainLog(
+        linkChainLog = CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = CHAIN_SOURCE_ADAS,
+        nodeAliasCode = CHAIN_CODE_OCH_TAXI_START_AUTOPILOT_MOFANG,
+        paramIndexes = [0],
+    )
+    fun startAutoPilotByMoFang(controlParameters: AutopilotControlParameters?) {
+        providerApi?.startAutoPilotByMoFang(controlParameters)
+        // 更新记录在全局的控制参数
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
+    }
+
     /**
      * 发送红绿灯数据至工控机
      */
diff --git a/gradle.properties b/gradle.properties
index 146ea7130c..08e2b91a2a 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -155,9 +155,9 @@ MATRIX_VERSION=2.0.8
 # 测试模式司机端版本号
 NOOP_DRIVER_VERSION=3.2.0
 # 公交模式司机端版本号
-BUS_DRIVER_VERSION=3.3.0
+BUS_DRIVER_VERSION=3.3.2
 # 公交模式乘客端端版本号
-BUS_PASSENGER_VERSION=2.3.0
+BUS_PASSENGER_VERSION=2.3.2
 # 接驳模式司机端版本号
 SHUTTLE_DRIVER_VERSION=3.2.0
 # 接驳模式乘客端端版本号
@@ -171,6 +171,6 @@ CHARTER_DRIVER_VERSION=3.1.0
 # 包车模式乘客端端版本号
 CHARTER_PASSENGER_VERSION=2.2.0
 # 支持云控清扫车模式司机端版本号
-SWEEPERCLOUD_DRIVER_VERSION=3.1.0
+SWEEPERCLOUD_DRIVER_VERSION=3.1.4
 # 清扫车模式司机端版本号
 SWEEPEROPERATE_DRIVER_VERSION=3.1.0
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 b40fc9d438..89b9f41d89 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -296,7 +296,7 @@ message RouteInfo
 message SetAutopilotModeReq
 {
     uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
-    uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud
+    uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
     RouteInfo routeInfo = 3; //自动驾驶路径信息
 }
 
@@ -597,13 +597,13 @@ message PlanningActionMsg
 //message definition for MsgTypeSetParamReq
 message SetOneParam
 {
-    uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s)
+    uint32 type = 1; // 0:default 1:绕障类功能开关(bool) 2:变道绕障的目标障碍物速度阈值(double, m/s) 
                      // 3:AEB开关(bool)  0:关闭自动紧急制动功能 1:启用自动紧急制动功能
                      // 4:限制绕障开关(bool) 0:正常绕障 1：限制绕障  默认0
                      // 5:停车让行线前避让等待开关(bool) 0:停车让行线前无需等待 1:停车让行线前需要等待 默认0
                      // 6:地图限速功能开关(bool) 0:不使用地图限速功能 1:使用地图限速功能 默认0
                      // 7:环岛模式开关(bool) 0:普通模式 1:环岛模式  默认0
-                     // 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略
+                     // 8:弱网减速停车策略开关(bool) 0:关闭弱网减速停车策略 1:使用弱网减速停车策略 
                      // 9:m1拼接视频自车位置参数(string), 格式:x,y,width,height
     string value = 2; // 转成字符串的值
 }
@@ -700,6 +700,3 @@ message SessionInfo
     uint64 connectedTimeStamp = 4;
     string version = 5;
 }
-
-
-
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index e05950933e..4b12882544 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -837,7 +837,7 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 设置自动驾驶模式 启动自动驾驶
      *
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
      * @param routeInfo 自动驾驶路径信息
      * @return boolean
      */
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
index b1cb6f3947..53e041eb9f 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -299,7 +299,7 @@ public class AdasManager implements IAdasNetCommApi {
      * 设置自动驾驶模式 启动自动驾驶
      *
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
      * @param routeInfo 自动驾驶路径信息
      * @return
      */
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
index 3ebd863523..16a2e8da3c 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -87,7 +87,7 @@ public interface IAdasNetCommApi {
      * 设置自动驾驶模式 启动自动驾驶
      *
      * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟(模拟时routeInfo传null), 1: AICloud业务
+     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
      * @param routeInfo 自动驾驶路径信息
      * @return 加入WS发送消息队列是否成功
      */
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
index 503d7f8eb2..6dfb0bc9f0 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/Constants.java
@@ -120,4 +120,26 @@ public class Constants {
         int OLD_CHASSIS = 1;//老底盘
     }
 
+
+    /**
+     * 启动自动驾驶-Source类型
+     */
+    public interface AUTOPILOT_SOURCE {
+        /**
+         * pad模拟
+         */
+        int PAD_SIMULATE = 0;
+        /**
+         * pad业务
+         */
+        int PAD = 1;
+        /**
+         * AICloud
+         */
+        int AI_CLOUD = 2;
+        /**
+         * 魔方
+         */
+        int MO_FANG = 3;
+    }
 }