diff --git a/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java b/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
index 4e98870e57..0c12f4cad9 100644
--- a/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/bus/driver/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
@@ -379,6 +379,11 @@ public class OrderModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             BusAnalyticsManager.INSTANCE.triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
diff --git a/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
index b3c2d0d73a..1d801a261c 100644
--- a/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
+++ b/OCH/charter/driver/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
@@ -333,6 +333,9 @@ class DriverM1Model {
                     mControllerStatusCallback?.onStartAdasFailure()
                 }
             }
+
+            override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
+            }
         }
 
     //监听网络变化，避免启动机器时无网导致无法更新订单信息
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt
index e723b6248d..aa81a4e6e5 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt
@@ -6,4 +6,7 @@ package com.mogo.och.common.module.callback
  */
 interface OchAdasStartFailureCallback {
     fun onStartAutopilotFailure(startFailedCode : String, startFailedMessage : String)
+
+    fun brakeStatusChanged(isBrakeAvailable: Boolean)
+
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
index 799c399ca5..93f2d426bf 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
@@ -6,9 +6,13 @@ import androidx.annotation.Nullable;
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.eagle.core.utilcode.util.ParseVersionUtils;
 import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics;
 import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
@@ -20,7 +24,7 @@ import java.util.ArrayList;
  * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
  * 目前定的是3秒回调一次
  */
-public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener {
+public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener, IMoGoParallelDrivingActionsListener {
 
     private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
 
@@ -85,11 +89,14 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
         CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutopilotStatisticsListenerManager.INSTANCE.addListener(TAG,this);
+        //map3.6.0且是东风或者红旗的时候返回
+        CallerParallelDrivingActionsListenerManager.INSTANCE.addListener(TAG,this);
     }
 
     private void releaseListeners() {
         CallerAutopilotActionsListenerManager.INSTANCE.removeListener(this);
         CallerAutopilotStatisticsListenerManager.INSTANCE.removeListener(this);
+        CallerParallelDrivingActionsListenerManager.INSTANCE.removeListener(TAG);
     }
 
     @Override
@@ -97,6 +104,16 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         this.isAutopilotAbility = isAutopilotAbility;
         this.unableAutopilotReasons = unableAutopilotReasons;
         Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + (unableAutopilotReasons == null ? null : unableAutopilotReasons.toString()));
+        if (unableAutopilotReasons != null && getMapVersion() < 30600) {
+            //刹车变化回调
+            Logger.d(TAG,"onAutopilotAbility = " + isAutopilotAbility +
+                    " onAutopilotAbility =" +  unableAutopilotReasons.toString());
+            if (unableAutopilotReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
+                    && unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
+                failureCallback.brakeStatusChanged(isAutopilotAbility);
+            }
+
+        }
     }
 
     @Override
@@ -112,6 +129,23 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         }
     }
 
+    @Override
+    public void onParallelDrivingAbility(boolean isParallelDrivingAbility, @Nullable ArrayList<UnableLaunchReason> unableParallelDrivingReasons) {
+        if (unableParallelDrivingReasons != null && getMapVersion() >= 30600) {
+            //刹车变化回调
+            Logger.d(TAG,"onParallelDrivingAbility = " + isParallelDrivingAbility +
+                    " unableParallelDrivingReasons =" +  unableParallelDrivingReasons.toString());
+            if (unableParallelDrivingReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
+                    && unableParallelDrivingReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
+                failureCallback.brakeStatusChanged(isParallelDrivingAbility);
+            }
+
+        }
+    }
+
+    private int getMapVersion(){
+        return ParseVersionUtils.parseVersion(true, CallerAutoPilotStatusListenerManager.INSTANCE.getDockerVersion());
+    }
     public void release() {
         releaseListeners();
     }
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FrameAnimatorContainer.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FrameAnimatorContainer.kt
index a68c11dca2..fbeda056df 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FrameAnimatorContainer.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/FrameAnimatorContainer.kt
@@ -7,9 +7,10 @@ import android.os.Handler
 import android.os.Looper
 import android.widget.ImageView
 import com.mogo.commons.AbsMogoApplication
+import java.lang.RuntimeException
 import java.lang.ref.SoftReference
 
-class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFirstFrame:Boolean = true){
+class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFirstFrame:Boolean = true,width:Int = -1,height:Int = -1){
     private lateinit var mFrames: IntArray // 帧数组
     private var mIndex = 0 // 当前帧
     private var mShouldRun = false // 开始/停止播放用
@@ -22,10 +23,17 @@ class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFir
     private var mBitmapOptions: BitmapFactory.Options? = null //Bitmap管理类，可有效减少Bitmap的OOM问题
 
     init {
-        createAnimation(imageView, getData(resId), fps,initFirstFrame)
+        createAnimation(imageView, getData(resId), fps,initFirstFrame,width,height)
     }
 
-    private fun createAnimation(imageView: ImageView, frames: IntArray, fps: Int, initFirstFrame:Boolean) {
+    private fun createAnimation(
+        imageView: ImageView,
+        frames: IntArray,
+        fps: Int,
+        initFirstFrame: Boolean,
+        width: Int,
+        height: Int
+    ) {
         mHandler = Handler(Looper.myLooper()!!)
         mFrames = frames
         mIndex = -1
@@ -36,13 +44,25 @@ class FrameAnimatorContainer (resId: Int, fps: Int, imageView: ImageView,initFir
         if(initFirstFrame) {
             imageView.setImageResource(mFrames[0])
         }
-
+        var widthImage = -1
+        var heightImage = -1
+        var config = Bitmap.Config.ARGB_8888
+        if(width>0&&height>0){
+            widthImage = width
+            heightImage = height
+        }else{
+            try {
+                val bmp = (imageView.drawable as BitmapDrawable).bitmap
+                widthImage = bmp.width
+                heightImage = bmp.height
+                config = bmp.config
+            }catch (e:Exception){
+                throw RuntimeException("请设置图片或传递大小")
+            }
+        }
         // 当图片大小类型相同时进行复用，避免频繁GC
-        val bmp = (imageView.drawable as BitmapDrawable).bitmap
-        val width = bmp.width
-        val height = bmp.height
-        val config = bmp.config
-        mBitmap = Bitmap.createBitmap(width, height, config)
+
+        mBitmap = Bitmap.createBitmap(widthImage, heightImage, config)
         mBitmapOptions = BitmapFactory.Options()
         //设置Bitmap内存复用
         mBitmapOptions!!.inBitmap = mBitmap //Bitmap复用内存块，类似对象池，避免不必要的内存分配和回收
diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
index 59562c4738..cdf4cd28d6 100644
--- a/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
@@ -382,6 +382,11 @@ public class OrderModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             BusAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
diff --git a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 08006c5490..5e99dd5719 100644
--- a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -287,6 +287,11 @@ public class SweeperTaskModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             SweeperAnalyticsManager.getInstance().triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 3bed82fead..23306f26dd 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1061,6 +1061,11 @@ public class TaxiModel {
     };
 
     private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void brakeStatusChanged(boolean isBrakeAvailable) {
+
+        }
+
         @Override
         public void onStartAutopilotFailure(@NotNull String startFailedCode, @NonNull String startFailedMessage) {
             TaxiAnalyticsManager.INSTANCE.triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage);
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 8c8acdcc14..d5cb965405 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -22,6 +22,7 @@ import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.Group;
 import androidx.fragment.app.FragmentTransaction;
 
+import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
@@ -37,6 +38,7 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
 import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -44,12 +46,14 @@ import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.uicontroller.IMogoMapUIController;
 import com.mogo.map.uicontroller.VisualAngleMode;
 import com.mogo.och.common.module.utils.AnimatorDrawableUtil;
+import com.mogo.och.common.module.utils.FrameAnimatorContainer;
 import com.mogo.och.taxi.R;
 
 import java.util.Arrays;
 import java.util.Objects;
 
 import bag_manager.BagManagerOuterClass;
+import me.jessyan.autosize.utils.AutoSizeUtils;
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
 
@@ -93,61 +97,8 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     private final Handler mHandler = new Handler(Looper.getMainLooper());
 
-    private final Integer[] startAutopilotDrawableIds = new Integer[]{
-            R.drawable.anim_flow_00000, R.drawable.anim_flow_00001, R.drawable.anim_flow_00002,
-            R.drawable.anim_flow_00003, R.drawable.anim_flow_00004, R.drawable.anim_flow_00005,
-            R.drawable.anim_flow_00006, R.drawable.anim_flow_00007, R.drawable.anim_flow_00008,
-            R.drawable.anim_flow_00009, R.drawable.anim_flow_00010, R.drawable.anim_flow_00011,
-            R.drawable.anim_flow_00012, R.drawable.anim_flow_00013, R.drawable.anim_flow_00014,
-            R.drawable.anim_flow_00015, R.drawable.anim_flow_00016, R.drawable.anim_flow_00017,
-            R.drawable.anim_flow_00018, R.drawable.anim_flow_00019, R.drawable.anim_flow_00020,
-            R.drawable.anim_flow_00021, R.drawable.anim_flow_00022, R.drawable.anim_flow_00023,
-            R.drawable.anim_flow_00024, R.drawable.anim_flow_00025, R.drawable.anim_flow_00026,
-            R.drawable.anim_flow_00027, R.drawable.anim_flow_00028, R.drawable.anim_flow_00029,
-            R.drawable.anim_flow_00030, R.drawable.anim_flow_00031, R.drawable.anim_flow_00032,
-            R.drawable.anim_flow_00033, R.drawable.anim_flow_00034, R.drawable.anim_flow_00035,
-            R.drawable.anim_flow_00036, R.drawable.anim_flow_00037, R.drawable.anim_flow_00038,
-            R.drawable.anim_flow_00039, R.drawable.anim_flow_00040, R.drawable.anim_flow_00041,
-            R.drawable.anim_flow_00042, R.drawable.anim_flow_00043, R.drawable.anim_flow_00044,
-            R.drawable.anim_flow_00045, R.drawable.anim_flow_00046, R.drawable.anim_flow_00047,
-            R.drawable.anim_flow_00048, R.drawable.anim_flow_00049, R.drawable.anim_flow_00050,
-            R.drawable.anim_flow_00051, R.drawable.anim_flow_00052, R.drawable.anim_flow_00053,
-            R.drawable.anim_flow_00054, R.drawable.anim_flow_00055, R.drawable.anim_flow_00056,
-            R.drawable.anim_flow_00057, R.drawable.anim_flow_00058, R.drawable.anim_flow_00059
-    };
-
-    private final Integer[] startManCODrawableIds = new Integer[]{
-            R.drawable.anim_flow_man_co_00000, R.drawable.anim_flow_man_co_00001,
-            R.drawable.anim_flow_man_co_00002, R.drawable.anim_flow_man_co_00003,
-            R.drawable.anim_flow_man_co_00004, R.drawable.anim_flow_man_co_00005,
-            R.drawable.anim_flow_man_co_00006, R.drawable.anim_flow_man_co_00007,
-            R.drawable.anim_flow_man_co_00008, R.drawable.anim_flow_man_co_00009,
-            R.drawable.anim_flow_man_co_00010, R.drawable.anim_flow_man_co_00011,
-            R.drawable.anim_flow_man_co_00012, R.drawable.anim_flow_man_co_00013,
-            R.drawable.anim_flow_man_co_00014, R.drawable.anim_flow_man_co_00015,
-            R.drawable.anim_flow_man_co_00016, R.drawable.anim_flow_man_co_00017,
-            R.drawable.anim_flow_man_co_00018, R.drawable.anim_flow_man_co_00019,
-            R.drawable.anim_flow_man_co_00020, R.drawable.anim_flow_man_co_00021,
-            R.drawable.anim_flow_man_co_00022, R.drawable.anim_flow_man_co_00023,
-            R.drawable.anim_flow_man_co_00024, R.drawable.anim_flow_man_co_00025,
-            R.drawable.anim_flow_man_co_00026, R.drawable.anim_flow_man_co_00027,
-            R.drawable.anim_flow_man_co_00028, R.drawable.anim_flow_man_co_00029,
-            R.drawable.anim_flow_man_co_00030, R.drawable.anim_flow_man_co_00031,
-            R.drawable.anim_flow_man_co_00032, R.drawable.anim_flow_man_co_00033,
-            R.drawable.anim_flow_man_co_00034, R.drawable.anim_flow_man_co_00035,
-            R.drawable.anim_flow_man_co_00036, R.drawable.anim_flow_man_co_00037,
-            R.drawable.anim_flow_man_co_00038, R.drawable.anim_flow_man_co_00039,
-            R.drawable.anim_flow_man_co_00040, R.drawable.anim_flow_man_co_00041,
-            R.drawable.anim_flow_man_co_00042, R.drawable.anim_flow_man_co_00043,
-            R.drawable.anim_flow_man_co_00044, R.drawable.anim_flow_man_co_00045,
-            R.drawable.anim_flow_man_co_00046, R.drawable.anim_flow_man_co_00047,
-            R.drawable.anim_flow_man_co_00048, R.drawable.anim_flow_man_co_00049,
-            R.drawable.anim_flow_man_co_00050, R.drawable.anim_flow_man_co_00051,
-            R.drawable.anim_flow_man_co_00052, R.drawable.anim_flow_man_co_00053,
-            R.drawable.anim_flow_man_co_00054, R.drawable.anim_flow_man_co_00055,
-            R.drawable.anim_flow_man_co_00056, R.drawable.anim_flow_man_co_00057,
-            R.drawable.anim_flow_man_co_00058, R.drawable.anim_flow_man_co_00059
-    };
+    private FrameAnimatorContainer startAutopilotAnimator;
+    private FrameAnimatorContainer startManCOAnimator;
 
     @Override
     protected int getLayoutId() {
@@ -295,6 +246,14 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         });
 
         smallMapView = findViewById(R.id.smallMapView);
+
+
+        int width = AutoSizeUtils.dp2px(AbsMogoApplication.getApp(), 420f);
+        int height = AutoSizeUtils.dp2px(AbsMogoApplication.getApp(), 220f);
+        startAutopilotAnimator = new FrameAnimatorContainer(R.array.anim_flow, 20,mAnimFlowIv,false,width,height);
+        startAutopilotAnimator.setOnAnimStopListener(() -> CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "自动驾驶动画暂停"));
+        startManCOAnimator = new FrameAnimatorContainer(R.array.nim_flow_man_co, 20,mAnimFlowIv,false,width,height);
+        startManCOAnimator.setOnAnimStopListener(() -> CallerLogger.d(SceneConstant.M_TAXI_P + TAG, "平行驾驶动画暂停"));
     }
 
     @Override
@@ -425,52 +384,51 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     protected abstract void updateOrderBottomBtnUI();
 
-    private AnimatorDrawableUtil animatorDrawableUtil = null;
-
     public void autopilotStatusAnimchanged(int status) {
         if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
             mAutopilotTv.setText("自动驾驶");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
-
-            if (animatorDrawableUtil == null) {
-                animatorDrawableUtil = new AnimatorDrawableUtil();
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.stop();
+            }
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.reStart();
             }
-            animatorDrawableUtil.setAnimation(mAnimFlowIv, Arrays.asList(startAutopilotDrawableIds));
-            animatorDrawableUtil.start(true, 100, null);
-
         } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status) {
             mAutopilotTv.setText("自动驾驶");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
-            if (animatorDrawableUtil != null) {
-                animatorDrawableUtil.stop();
-                mAnimFlowIv.setImageResource(0);
-            }
 
-//            ctvAutopilotStatusRL.setBackground(getResources().getDrawable(R.drawable.taxi_autopilot_bg_selector));
-            animatorDrawableUtil = null;
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.stop();
+            }
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.stop();
+            }
+            mAnimFlowIv.setImageResource(0);
+
         } else if (IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING == status) {
             mAutopilotTv.setText("远程代驾");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_normal));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot);
-            if (animatorDrawableUtil == null) {
-                animatorDrawableUtil = new AnimatorDrawableUtil();
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.stop();
+            }
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.reStart();
             }
-            animatorDrawableUtil.setAnimation(mAnimFlowIv, Arrays.asList(startManCODrawableIds));
-            animatorDrawableUtil.start(true, 100, null);
-
         } else {
             mAutopilotTv.setText("自动驾驶");
             mAutopilotTv.setTextColor(getResources().getColor(R.color.taxi_autopilot_text_color_disable));
             mAutopilotImage.setImageResource(R.drawable.taxi_ic_autopilot_disable);
-            if (animatorDrawableUtil != null) {
-                animatorDrawableUtil.stop();
-                mAnimFlowIv.setImageResource(0);
+            if(startAutopilotAnimator!=null) {
+                startAutopilotAnimator.stop();
             }
-
-//            ctvAutopilotStatusRL.setBackground(getResources().getDrawable(R.drawable.taxi_ic_autopilot_bg));
-            animatorDrawableUtil = null;
+            if(startManCOAnimator!=null) {
+                startManCOAnimator.stop();
+            }
+            mAnimFlowIv.setImageResource(0);
         }
 
     }
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index e75559ba2b..5a51b33ca7 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00047.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00047.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00048.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00048.png
index 0fa9cf95f3..d766d1a8b5 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00048.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00048.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00049.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00049.png
index 7445350b68..689e9c4940 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00049.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00049.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00050.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00050.png
index 0e4c83c1b3..d4fcdff5ca 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00050.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00050.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00051.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00051.png
index 1b05dfb2c4..4cf20d5875 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00051.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00051.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00052.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00052.png
index 64f3974bb3..d4d7d4bfac 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00052.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00052.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00053.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00053.png
index 9199dda1df..cb2faa96b5 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00053.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00053.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00054.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00054.png
index fcc0fa446c..28c50833c6 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00054.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00054.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00055.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00055.png
index a0ac37b605..a409e84139 100755
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diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00056.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00056.png
index 4879de18eb..84acd73921 100755
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diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00057.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00057.png
index b60bc68114..1be70d9bb6 100755
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diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00058.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00058.png
index 5dc3945a0c..1f5048dfb2 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00058.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00058.png differ
diff --git a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00059.png b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00059.png
index 626c936ee2..d4894dba39 100755
Binary files a/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00059.png and b/OCH/taxi/driver/src/main/res/drawable/anim_flow_man_co_00059.png differ
diff --git a/OCH/taxi/driver/src/main/res/values/arrays.xml b/OCH/taxi/driver/src/main/res/values/arrays.xml
new file mode 100644
index 0000000000..b1dbd2354f
--- /dev/null
+++ b/OCH/taxi/driver/src/main/res/values/arrays.xml
@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string-array name="anim_flow">
+        <item>@drawable/anim_flow_00000</item>
+        <item>@drawable/anim_flow_00001</item>
+        <item>@drawable/anim_flow_00002</item>
+        <item>@drawable/anim_flow_00003</item>
+        <item>@drawable/anim_flow_00004</item>
+        <item>@drawable/anim_flow_00005</item>
+        <item>@drawable/anim_flow_00006</item>
+        <item>@drawable/anim_flow_00007</item>
+        <item>@drawable/anim_flow_00008</item>
+        <item>@drawable/anim_flow_00009</item>
+
+        <item>@drawable/anim_flow_00010</item>
+        <item>@drawable/anim_flow_00011</item>
+        <item>@drawable/anim_flow_00012</item>
+        <item>@drawable/anim_flow_00013</item>
+        <item>@drawable/anim_flow_00014</item>
+        <item>@drawable/anim_flow_00015</item>
+        <item>@drawable/anim_flow_00016</item>
+        <item>@drawable/anim_flow_00017</item>
+        <item>@drawable/anim_flow_00018</item>
+        <item>@drawable/anim_flow_00019</item>
+
+        <item>@drawable/anim_flow_00020</item>
+        <item>@drawable/anim_flow_00021</item>
+        <item>@drawable/anim_flow_00022</item>
+        <item>@drawable/anim_flow_00023</item>
+        <item>@drawable/anim_flow_00024</item>
+        <item>@drawable/anim_flow_00025</item>
+        <item>@drawable/anim_flow_00026</item>
+        <item>@drawable/anim_flow_00027</item>
+        <item>@drawable/anim_flow_00028</item>
+        <item>@drawable/anim_flow_00029</item>
+
+
+        <item>@drawable/anim_flow_00030</item>
+        <item>@drawable/anim_flow_00031</item>
+        <item>@drawable/anim_flow_00032</item>
+        <item>@drawable/anim_flow_00033</item>
+        <item>@drawable/anim_flow_00034</item>
+        <item>@drawable/anim_flow_00035</item>
+        <item>@drawable/anim_flow_00036</item>
+        <item>@drawable/anim_flow_00037</item>
+        <item>@drawable/anim_flow_00038</item>
+        <item>@drawable/anim_flow_00039</item>
+
+        <item>@drawable/anim_flow_00040</item>
+        <item>@drawable/anim_flow_00041</item>
+        <item>@drawable/anim_flow_00042</item>
+        <item>@drawable/anim_flow_00043</item>
+        <item>@drawable/anim_flow_00044</item>
+        <item>@drawable/anim_flow_00045</item>
+        <item>@drawable/anim_flow_00046</item>
+        <item>@drawable/anim_flow_00047</item>
+        <item>@drawable/anim_flow_00048</item>
+        <item>@drawable/anim_flow_00049</item>
+
+        <item>@drawable/anim_flow_00050</item>
+        <item>@drawable/anim_flow_00051</item>
+        <item>@drawable/anim_flow_00052</item>
+        <item>@drawable/anim_flow_00053</item>
+        <item>@drawable/anim_flow_00054</item>
+        <item>@drawable/anim_flow_00055</item>
+        <item>@drawable/anim_flow_00056</item>
+        <item>@drawable/anim_flow_00057</item>
+        <item>@drawable/anim_flow_00058</item>
+        <item>@drawable/anim_flow_00059</item>
+
+    </string-array>
+
+    <string-array name="nim_flow_man_co">
+        <item>@drawable/anim_flow_man_co_00000</item>
+        <item>@drawable/anim_flow_man_co_00001</item>
+        <item>@drawable/anim_flow_man_co_00002</item>
+        <item>@drawable/anim_flow_man_co_00003</item>
+        <item>@drawable/anim_flow_man_co_00004</item>
+        <item>@drawable/anim_flow_man_co_00005</item>
+        <item>@drawable/anim_flow_man_co_00006</item>
+        <item>@drawable/anim_flow_man_co_00007</item>
+        <item>@drawable/anim_flow_man_co_00008</item>
+        <item>@drawable/anim_flow_man_co_00009</item>
+        <item>@drawable/anim_flow_man_co_00010</item>
+        <item>@drawable/anim_flow_man_co_00011</item>
+        <item>@drawable/anim_flow_man_co_00012</item>
+        <item>@drawable/anim_flow_man_co_00013</item>
+        <item>@drawable/anim_flow_man_co_00014</item>
+        <item>@drawable/anim_flow_man_co_00015</item>
+        <item>@drawable/anim_flow_man_co_00016</item>
+        <item>@drawable/anim_flow_man_co_00017</item>
+        <item>@drawable/anim_flow_man_co_00018</item>
+        <item>@drawable/anim_flow_man_co_00019</item>
+        <item>@drawable/anim_flow_man_co_00020</item>
+        <item>@drawable/anim_flow_man_co_00021</item>
+        <item>@drawable/anim_flow_man_co_00022</item>
+        <item>@drawable/anim_flow_man_co_00023</item>
+        <item>@drawable/anim_flow_man_co_00024</item>
+        <item>@drawable/anim_flow_man_co_00025</item>
+        <item>@drawable/anim_flow_man_co_00026</item>
+        <item>@drawable/anim_flow_man_co_00027</item>
+        <item>@drawable/anim_flow_man_co_00028</item>
+        <item>@drawable/anim_flow_man_co_00029</item>
+        <item>@drawable/anim_flow_man_co_00030</item>
+        <item>@drawable/anim_flow_man_co_00031</item>
+        <item>@drawable/anim_flow_man_co_00032</item>
+        <item>@drawable/anim_flow_man_co_00033</item>
+        <item>@drawable/anim_flow_man_co_00034</item>
+        <item>@drawable/anim_flow_man_co_00035</item>
+        <item>@drawable/anim_flow_man_co_00036</item>
+        <item>@drawable/anim_flow_man_co_00037</item>
+        <item>@drawable/anim_flow_man_co_00038</item>
+        <item>@drawable/anim_flow_man_co_00039</item>
+        <item>@drawable/anim_flow_man_co_00040</item>
+        <item>@drawable/anim_flow_man_co_00041</item>
+        <item>@drawable/anim_flow_man_co_00042</item>
+        <item>@drawable/anim_flow_man_co_00043</item>
+        <item>@drawable/anim_flow_man_co_00044</item>
+        <item>@drawable/anim_flow_man_co_00045</item>
+        <item>@drawable/anim_flow_man_co_00046</item>
+        <item>@drawable/anim_flow_man_co_00047</item>
+        <item>@drawable/anim_flow_man_co_00048</item>
+        <item>@drawable/anim_flow_man_co_00049</item>
+        <item>@drawable/anim_flow_man_co_00050</item>
+        <item>@drawable/anim_flow_man_co_00051</item>
+        <item>@drawable/anim_flow_man_co_00052</item>
+        <item>@drawable/anim_flow_man_co_00053</item>
+        <item>@drawable/anim_flow_man_co_00054</item>
+        <item>@drawable/anim_flow_man_co_00055</item>
+        <item>@drawable/anim_flow_man_co_00056</item>
+        <item>@drawable/anim_flow_man_co_00057</item>
+        <item>@drawable/anim_flow_man_co_00058</item>
+        <item>@drawable/anim_flow_man_co_00059</item>
+
+    </string-array>
+
+</resources>
\ No newline at end of file
diff --git a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
index 0527f0798c..0a0cb370fa 100644
--- a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
+++ b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
@@ -235,7 +235,10 @@ object TaxiPassengerModel {
             override fun onStartAutopilotFailure(startFailedCode: String, startFailedMessage: String) {
                 TaxiPassengerAnalyticsManager.triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage)
             }
+
+        override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
         }
+    }
     private val iMsgBoxEventListener: IMsgBoxEventListener = object : IMsgBoxEventListener {
         override fun onSummaryClickEvent() {
             if (currentOCHOrder == null) {
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
index 7e8a6673f3..b1f80cf372 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
@@ -23,4 +23,6 @@ public interface ITaxiADASStatusCallback {
 
     //自驾返回失败
     void onStartAdasFailure();
+
+    void updateAutopilotStatus();
 }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
index 0ee272ed4a..5fbb56c5db 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/BaseTaxiTabFragment.kt
@@ -10,6 +10,7 @@ import android.view.View
 import android.view.animation.LinearInterpolator
 import androidx.fragment.app.FragmentTransaction
 import androidx.localbroadcastmanager.content.LocalBroadcastManager
+import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.mvp.IView
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.mvp.Presenter
@@ -28,7 +29,7 @@ import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
-import com.mogo.och.common.module.utils.AnimatorDrawableUtil
+import com.mogo.och.common.module.utils.FrameAnimatorContainer
 import com.mogo.och.common.module.wigets.StartAutopilotAnimationView
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
@@ -57,6 +58,7 @@ import kotlinx.android.synthetic.main.taxi_base_fragment.taxi_switch_icon
 import kotlinx.android.synthetic.main.taxi_base_fragment.viewDriverMsgBoxBubble
 import kotlinx.android.synthetic.main.taxi_base_fragment.viewDriverMsgBoxButton
 import kotlinx.android.synthetic.main.taxi_base_fragment.viewDriverMsgBoxList
+import me.jessyan.autosize.utils.AutoSizeUtils
 import kotlin.math.abs
 
 /**
@@ -78,61 +80,8 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
     // 开发调试时展示信息的panel
     private var debugPanelView: View? = null
 
-    private val startAutopilotDrawableIds = arrayOf(
-        R.drawable.anim_flow_00000, R.drawable.anim_flow_00001, R.drawable.anim_flow_00002,
-        R.drawable.anim_flow_00003, R.drawable.anim_flow_00004, R.drawable.anim_flow_00005,
-        R.drawable.anim_flow_00006, R.drawable.anim_flow_00007, R.drawable.anim_flow_00008,
-        R.drawable.anim_flow_00009, R.drawable.anim_flow_00010, R.drawable.anim_flow_00011,
-        R.drawable.anim_flow_00012, R.drawable.anim_flow_00013, R.drawable.anim_flow_00014,
-        R.drawable.anim_flow_00015, R.drawable.anim_flow_00016, R.drawable.anim_flow_00017,
-        R.drawable.anim_flow_00018, R.drawable.anim_flow_00019, R.drawable.anim_flow_00020,
-        R.drawable.anim_flow_00021, R.drawable.anim_flow_00022, R.drawable.anim_flow_00023,
-        R.drawable.anim_flow_00024, R.drawable.anim_flow_00025, R.drawable.anim_flow_00026,
-        R.drawable.anim_flow_00027, R.drawable.anim_flow_00028, R.drawable.anim_flow_00029,
-        R.drawable.anim_flow_00030, R.drawable.anim_flow_00031, R.drawable.anim_flow_00032,
-        R.drawable.anim_flow_00033, R.drawable.anim_flow_00034, R.drawable.anim_flow_00035,
-        R.drawable.anim_flow_00036, R.drawable.anim_flow_00037, R.drawable.anim_flow_00038,
-        R.drawable.anim_flow_00039, R.drawable.anim_flow_00040, R.drawable.anim_flow_00041,
-        R.drawable.anim_flow_00042, R.drawable.anim_flow_00043, R.drawable.anim_flow_00044,
-        R.drawable.anim_flow_00045, R.drawable.anim_flow_00046, R.drawable.anim_flow_00047,
-        R.drawable.anim_flow_00048, R.drawable.anim_flow_00049, R.drawable.anim_flow_00050,
-        R.drawable.anim_flow_00051, R.drawable.anim_flow_00052, R.drawable.anim_flow_00053,
-        R.drawable.anim_flow_00054, R.drawable.anim_flow_00055, R.drawable.anim_flow_00056,
-        R.drawable.anim_flow_00057, R.drawable.anim_flow_00058, R.drawable.anim_flow_00059
-    )
-
-    private val startManCODrawableIds = arrayOf(
-        R.drawable.anim_flow_man_co_00000, R.drawable.anim_flow_man_co_00001,
-        R.drawable.anim_flow_man_co_00002, R.drawable.anim_flow_man_co_00003,
-        R.drawable.anim_flow_man_co_00004, R.drawable.anim_flow_man_co_00005,
-        R.drawable.anim_flow_man_co_00006, R.drawable.anim_flow_man_co_00007,
-        R.drawable.anim_flow_man_co_00008, R.drawable.anim_flow_man_co_00009,
-        R.drawable.anim_flow_man_co_00010, R.drawable.anim_flow_man_co_00011,
-        R.drawable.anim_flow_man_co_00012, R.drawable.anim_flow_man_co_00013,
-        R.drawable.anim_flow_man_co_00014, R.drawable.anim_flow_man_co_00015,
-        R.drawable.anim_flow_man_co_00016, R.drawable.anim_flow_man_co_00017,
-        R.drawable.anim_flow_man_co_00018, R.drawable.anim_flow_man_co_00019,
-        R.drawable.anim_flow_man_co_00020, R.drawable.anim_flow_man_co_00021,
-        R.drawable.anim_flow_man_co_00022, R.drawable.anim_flow_man_co_00023,
-        R.drawable.anim_flow_man_co_00024, R.drawable.anim_flow_man_co_00025,
-        R.drawable.anim_flow_man_co_00026, R.drawable.anim_flow_man_co_00027,
-        R.drawable.anim_flow_man_co_00028, R.drawable.anim_flow_man_co_00029,
-        R.drawable.anim_flow_man_co_00030, R.drawable.anim_flow_man_co_00031,
-        R.drawable.anim_flow_man_co_00032, R.drawable.anim_flow_man_co_00033,
-        R.drawable.anim_flow_man_co_00034, R.drawable.anim_flow_man_co_00035,
-        R.drawable.anim_flow_man_co_00036, R.drawable.anim_flow_man_co_00037,
-        R.drawable.anim_flow_man_co_00038, R.drawable.anim_flow_man_co_00039,
-        R.drawable.anim_flow_man_co_00040, R.drawable.anim_flow_man_co_00041,
-        R.drawable.anim_flow_man_co_00042, R.drawable.anim_flow_man_co_00043,
-        R.drawable.anim_flow_man_co_00044, R.drawable.anim_flow_man_co_00045,
-        R.drawable.anim_flow_man_co_00046, R.drawable.anim_flow_man_co_00047,
-        R.drawable.anim_flow_man_co_00048, R.drawable.anim_flow_man_co_00049,
-        R.drawable.anim_flow_man_co_00050, R.drawable.anim_flow_man_co_00051,
-        R.drawable.anim_flow_man_co_00052, R.drawable.anim_flow_man_co_00053,
-        R.drawable.anim_flow_man_co_00054, R.drawable.anim_flow_man_co_00055,
-        R.drawable.anim_flow_man_co_00056, R.drawable.anim_flow_man_co_00057,
-        R.drawable.anim_flow_man_co_00058, R.drawable.anim_flow_man_co_00059
-    )
+    private var startAutopilotAnimator: FrameAnimatorContainer?=null
+    private var startManCOAnimator: FrameAnimatorContainer?=null
 
     override fun getLayoutId(): Int {
         return R.layout.taxi_base_fragment
@@ -265,6 +214,21 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
                 }
             }
         })
+
+        val width = AutoSizeUtils.dp2px(AbsMogoApplication.getApp(), 420f)
+        val height = AutoSizeUtils.dp2px(AbsMogoApplication.getApp(), 220f)
+        startAutopilotAnimator = FrameAnimatorContainer(R.array.anim_flow, 20,anim_flow_iv,false,width,height)
+        startAutopilotAnimator?.setOnAnimStopListener(object : FrameAnimatorContainer.OnAnimationStoppedListener{
+            override fun AnimationStopped() {
+                d(SceneConstant.M_TAXI_P + TAG, "自动驾驶动画暂停")
+            }
+        })
+        startManCOAnimator = FrameAnimatorContainer(R.array.nim_flow_man_co, 20,anim_flow_iv,false,width,height)
+        startManCOAnimator?.setOnAnimStopListener(object : FrameAnimatorContainer.OnAnimationStoppedListener{
+            override fun AnimationStopped() {
+                d(SceneConstant.M_TAXI_P + TAG, "平行驾驶动画暂停")
+            }
+        })
     }
 
     abstract fun stopAutoStartAutopilot()
@@ -372,8 +336,6 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
         module_mogo_och_autopilot_status.tag = tag
     }
 
-    private var animatorDrawableUtil: AnimatorDrawableUtil? = null
-
     private fun updateAutopilotBtnByStatus(status: Int) {
         if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status) {
             module_och_autopilot_tv.text = "自动驾驶"
@@ -384,14 +346,8 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
                 )
             )
             module_och_autopilot_iv.setImageResource(R.drawable.taxi_ic_autopilot)
-            if (animatorDrawableUtil == null) {
-                animatorDrawableUtil = AnimatorDrawableUtil()
-            }
-            animatorDrawableUtil!!.setAnimation(
-                anim_flow_iv,
-                listOf(*startAutopilotDrawableIds)
-            )
-            animatorDrawableUtil!!.start(true, 100, null)
+            startAutopilotAnimator?.reStart()
+            startManCOAnimator?.stop()
         } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status) {
             module_och_autopilot_tv.text = "自动驾驶"
             module_och_autopilot_tv.setTextColor(
@@ -401,11 +357,9 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
                 )
             )
             module_och_autopilot_iv.setImageResource(R.drawable.taxi_ic_autopilot)
-            if (animatorDrawableUtil != null) {
-                animatorDrawableUtil!!.stop()
-                anim_flow_iv.setImageResource(0)
-            }
-            animatorDrawableUtil = null
+            startAutopilotAnimator?.stop()
+            startManCOAnimator?.stop()
+            anim_flow_iv.setImageResource(0)
         } else if (IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING == status) {
             module_och_autopilot_tv.text = "远程代驾"
             module_och_autopilot_tv.setTextColor(
@@ -415,11 +369,8 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
                 )
             )
             module_och_autopilot_iv.setImageResource(R.drawable.taxi_ic_autopilot)
-            if (animatorDrawableUtil == null) {
-                animatorDrawableUtil = AnimatorDrawableUtil()
-            }
-            animatorDrawableUtil!!.setAnimation(anim_flow_iv, listOf(*startManCODrawableIds))
-            animatorDrawableUtil!!.start(true, 100, null)
+            startManCOAnimator?.reStart()
+            startAutopilotAnimator?.stop()
         } else {
             module_och_autopilot_tv.text = "自动驾驶"
             module_och_autopilot_tv.setTextColor(
@@ -429,11 +380,9 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
                 )
             )
             module_och_autopilot_iv.setImageResource(R.drawable.taxi_ic_autopilot_disable)
-            if (animatorDrawableUtil != null) {
-                animatorDrawableUtil!!.stop()
-                anim_flow_iv.setImageResource(0)
-            }
-            animatorDrawableUtil = null
+            startAutopilotAnimator?.stop()
+            startManCOAnimator?.stop()
+            anim_flow_iv.setImageResource(0)
         }
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
index 8b4ef9fda0..128ecc72e1 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
@@ -133,6 +133,11 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
     }
 
+    @Override
+    public void updateAutopilotStatus() {
+        mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
+    }
+
     @Override
     public void onNaviToEnd(boolean isAmap, boolean isShow) {
         runOnUIThread(() -> mView.onNaviToEnd(isAmap, isShow));
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
index b2f3ec6b94..c56d65498d 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -20,17 +20,14 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
-import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingActionsListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02
-import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingActionsListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.network.utils.GsonUtil
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
@@ -79,7 +76,6 @@ import com.mogo.och.taxi.ui.debug.DebugView
 import com.mogo.och.taxi.utils.RxJavaUtils
 import com.mogo.och.taxi.utils.TaxiAnalyticsManager
 import com.mogo.och.taxi.utils.TaxiTrajectoryManager
-import com.zhjt.mogo.adas.data.bean.UnableLaunchReason
 import com.zhjt.service.chain.ChainLog
 import io.reactivex.Observable
 import io.reactivex.android.schedulers.AndroidSchedulers
@@ -142,6 +138,8 @@ object TaxiTaskModel {
 
     private var mPrepareTaskDelayRunnable: Runnable? = null
 
+    private var mIsArrivedSiteTag = false //到站标志位,防止围栏触发多次调用到站接口
+
     fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
         if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
             return
@@ -229,8 +227,6 @@ object TaxiTaskModel {
         AbnormalFactorsLoopManager.startLoopAbnormalFactors(mContext)
         TrajectoryAndDistanceManager.addDistanceListener(TAG, localCalculateDistanceListener)
         TrajectoryAndDistanceManager.addTrajectoryListener(TAG, localCalculateTrajectoryListener)
-        //3.6.0后平行驾驶.刹车 且只用于东风和红旗. 3.6.0前没有
-        CallerParallelDrivingActionsListenerManager.addListener(TAG,mParallelDrivingActionsListener)
     }
 
     private fun releaseListeners() {
@@ -247,28 +243,8 @@ object TaxiTaskModel {
         CallerPlanningRottingListenerManager.removeListener(mMogoAutopilotPlanningListener)
         OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null)
         AbnormalFactorsLoopManager.stopLoopAbnormalFactors()
-        CallerParallelDrivingActionsListenerManager.removeListener(TAG)
     }
 
-    // 监听平行驾驶、刹车, 试用于MAP3.6.0以上 且只用于东风和红旗
-    private val mParallelDrivingActionsListener: IMoGoParallelDrivingActionsListener =
-        object : IMoGoParallelDrivingActionsListener {
-            override fun onParallelDrivingAbility(
-                isParallelDrivingAbility: Boolean,
-                unableParallelDrivingReasons: ArrayList<UnableLaunchReason>?
-            ) {
-                if (unableParallelDrivingReasons != null) {
-                    if (unableParallelDrivingReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name)
-                        && unableParallelDrivingReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name)) {
-                        //刹车变化回调
-                        d(TAG,"onParallelDrivingAbility = $isParallelDrivingAbility," +
-                                " unableParallelDrivingReasons = ${unableParallelDrivingReasons.toString()}" )
-                        handleBrakeStatusChange(isParallelDrivingAbility)
-                    }
-                }
-            }
-        }
-
     /**
      * brakeStatus: true: 恢复启动自驾
      * false: 暂停启动自驾
@@ -321,10 +297,8 @@ object TaxiTaskModel {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_ENABLE，meaning=可自动驾驶，人工干预状态")
                     if ((FunctionBuildConfig.isDemoMode
                                 && checkCurrentTaskCondition()
-                                && (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder)
-                                || QueryCurrentTaskRespBean.isOrderArriveAtEnd(mCurrentTaskWithOrder))
-                            )
-                    ) {
+                                && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
+                    )){
                         // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
                         return
                     }
@@ -333,8 +307,7 @@ object TaxiTaskModel {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_DISABLE，meaning=不可自动驾驶")
                     if ((FunctionBuildConfig.isDemoMode
                                 && checkCurrentTaskCondition()
-                                && (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder)
-                                || QueryCurrentTaskRespBean.isOrderArriveAtEnd(mCurrentTaskWithOrder))
+                                && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
                             )
                     ) {
                         // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
@@ -347,8 +320,7 @@ object TaxiTaskModel {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_PARALLEL_DRIVING，meaning=平行驾驶中")
                     if (FunctionBuildConfig.isDemoMode) {
                         if ((checkCurrentTaskCondition()
-                                    && (QueryCurrentTaskRespBean.isOrderOnTheWayToEnd(mCurrentTaskWithOrder)
-                                    || QueryCurrentTaskRespBean.isOrderArriveAtEnd(mCurrentTaskWithOrder))
+                                    && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
                                 )
                         ) {  //订单中
                             // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
@@ -413,7 +385,6 @@ object TaxiTaskModel {
                 if (checkCurrentTaskCondition()
                     && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
                 ) {
-//                    judgeTaskStartStation(mogoLocation)
                     judgeTaskEndSiteStation(mogoLocation)
                 }
 
@@ -469,6 +440,11 @@ object TaxiTaskModel {
                     mADASStatusCallback?.onStartAdasFailure()
                 }
             }
+
+            override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
+                //刹车: true 松开, false 踩下
+                handleBrakeStatusChange(isBrakeAvailable)
+            }
         }
 
     private val mMogoOnSocketMessageListener =
@@ -576,23 +552,6 @@ object TaxiTaskModel {
         }
     }
 
-    //根据围栏判断，是否到达起点
-    private fun judgeTaskStartStation(location: MogoLocation) {
-        if (checkCurrentTaskCondition()) {
-            val startSite = mCurrentTaskWithOrder!!.startSite ?: return
-            val startLon = startSite.gcjLon
-            val startLat = startSite.gcjLat
-            val distance = CoordinateUtils.calculateLineDistance(
-                startLon, startLat,
-                location.longitude, location.latitude
-            ).toDouble()
-            i(TAG, "judgeTaskStartStation() distance = $distance")
-            if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) {
-                submitArriveSite(startSite.siteId, false)
-            }
-        }
-    }
-
     private fun autopilotArriveAtStation() {
         if (!checkCurrentTaskCondition()) return
         i(
@@ -613,6 +572,12 @@ object TaxiTaskModel {
         siteId: Long, isArriveAtEndSite: Boolean,
         isArrivedNearestStation: Boolean = false
     ) {
+        if (mIsArrivedSiteTag){
+            DebugView.printInfoMsg("arriveSite接口正在调用中")
+            i(TAG, message = "arriveSite接口正在调用中 mIsArrivedSite = $mIsArrivedSiteTag")
+            return
+        }
+        mIsArrivedSiteTag = true
         DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
         i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
         TaxiTaskWithOrderServiceManager.arriveSite(
@@ -620,6 +585,7 @@ object TaxiTaskModel {
             siteId,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
+                    mIsArrivedSiteTag = false
                     if (data == null || data.code != 0) return
                     DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
                     d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
@@ -637,6 +603,7 @@ object TaxiTaskModel {
 
                 override fun onError() {
                     super.onError()
+                    mIsArrivedSiteTag = false
                     if (!NetworkUtils.isConnected(mContext)) { // 网络异常,接口重试
                         ToastUtils.showShort("网络出现异常,请稍后重试")
                         DebugView.printErrorMsg("[上报ArriveSite] 网络出现异常,请稍后重试")
@@ -647,6 +614,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    mIsArrivedSiteTag = false
                     DebugView.printErrorMsg("[上报ArriveSite] failed, code=$code, msg=$msg")
                     d(TAG, "code=$code msg=$msg")
                     ToastUtils.showShort("到站接口请求出现异常,请稍后重试,code=$code msg=$msg")
@@ -765,6 +733,7 @@ object TaxiTaskModel {
                         //注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
                         if (result?.currentStatus == TaskStatusEnum.CompleteTask.code
                         ) {
+                            mADASStatusCallback?.updateAutopilotStatus()
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
                                 listener.onTaskCompleted(result)
diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00000.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00000.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00006.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00006.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00007.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00007.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00008.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00008.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00009.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00009.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00011.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00011.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00012.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00012.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00013.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00013.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00016.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00016.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00017.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_00017.png
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diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00056.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00056.png
index 4879de18eb..84acd73921 100755
Binary files a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00056.png and b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00056.png differ
diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00057.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00057.png
index b60bc68114..1be70d9bb6 100755
Binary files a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00057.png and b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00057.png differ
diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00058.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00058.png
index 5dc3945a0c..1f5048dfb2 100755
Binary files a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00058.png and b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00058.png differ
diff --git a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00059.png b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00059.png
index 626c936ee2..d4894dba39 100755
Binary files a/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00059.png and b/OCH/taxi/unmanned-driver/src/main/res/drawable/anim_flow_man_co_00059.png differ
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml
index 628f670572..d990f1b3fe 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_base_fragment.xml
@@ -191,7 +191,7 @@
         android:layout_height="wrap_content"
         app:layout_constraintTop_toTopOf="parent"
         android:layout_marginTop="@dimen/dp_20"
-        app:layout_constraintRight_toLeftOf="@+id/viewTrafficLightVr"
+        app:layout_constraintRight_toLeftOf="@+id/ivCameraIcon"
         app:layout_goneMarginRight="@dimen/dp_160"/>
 
     <!--红绿灯-->
diff --git a/OCH/taxi/unmanned-driver/src/main/res/values/arrays.xml b/OCH/taxi/unmanned-driver/src/main/res/values/arrays.xml
new file mode 100644
index 0000000000..b1dbd2354f
--- /dev/null
+++ b/OCH/taxi/unmanned-driver/src/main/res/values/arrays.xml
@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <string-array name="anim_flow">
+        <item>@drawable/anim_flow_00000</item>
+        <item>@drawable/anim_flow_00001</item>
+        <item>@drawable/anim_flow_00002</item>
+        <item>@drawable/anim_flow_00003</item>
+        <item>@drawable/anim_flow_00004</item>
+        <item>@drawable/anim_flow_00005</item>
+        <item>@drawable/anim_flow_00006</item>
+        <item>@drawable/anim_flow_00007</item>
+        <item>@drawable/anim_flow_00008</item>
+        <item>@drawable/anim_flow_00009</item>
+
+        <item>@drawable/anim_flow_00010</item>
+        <item>@drawable/anim_flow_00011</item>
+        <item>@drawable/anim_flow_00012</item>
+        <item>@drawable/anim_flow_00013</item>
+        <item>@drawable/anim_flow_00014</item>
+        <item>@drawable/anim_flow_00015</item>
+        <item>@drawable/anim_flow_00016</item>
+        <item>@drawable/anim_flow_00017</item>
+        <item>@drawable/anim_flow_00018</item>
+        <item>@drawable/anim_flow_00019</item>
+
+        <item>@drawable/anim_flow_00020</item>
+        <item>@drawable/anim_flow_00021</item>
+        <item>@drawable/anim_flow_00022</item>
+        <item>@drawable/anim_flow_00023</item>
+        <item>@drawable/anim_flow_00024</item>
+        <item>@drawable/anim_flow_00025</item>
+        <item>@drawable/anim_flow_00026</item>
+        <item>@drawable/anim_flow_00027</item>
+        <item>@drawable/anim_flow_00028</item>
+        <item>@drawable/anim_flow_00029</item>
+
+
+        <item>@drawable/anim_flow_00030</item>
+        <item>@drawable/anim_flow_00031</item>
+        <item>@drawable/anim_flow_00032</item>
+        <item>@drawable/anim_flow_00033</item>
+        <item>@drawable/anim_flow_00034</item>
+        <item>@drawable/anim_flow_00035</item>
+        <item>@drawable/anim_flow_00036</item>
+        <item>@drawable/anim_flow_00037</item>
+        <item>@drawable/anim_flow_00038</item>
+        <item>@drawable/anim_flow_00039</item>
+
+        <item>@drawable/anim_flow_00040</item>
+        <item>@drawable/anim_flow_00041</item>
+        <item>@drawable/anim_flow_00042</item>
+        <item>@drawable/anim_flow_00043</item>
+        <item>@drawable/anim_flow_00044</item>
+        <item>@drawable/anim_flow_00045</item>
+        <item>@drawable/anim_flow_00046</item>
+        <item>@drawable/anim_flow_00047</item>
+        <item>@drawable/anim_flow_00048</item>
+        <item>@drawable/anim_flow_00049</item>
+
+        <item>@drawable/anim_flow_00050</item>
+        <item>@drawable/anim_flow_00051</item>
+        <item>@drawable/anim_flow_00052</item>
+        <item>@drawable/anim_flow_00053</item>
+        <item>@drawable/anim_flow_00054</item>
+        <item>@drawable/anim_flow_00055</item>
+        <item>@drawable/anim_flow_00056</item>
+        <item>@drawable/anim_flow_00057</item>
+        <item>@drawable/anim_flow_00058</item>
+        <item>@drawable/anim_flow_00059</item>
+
+    </string-array>
+
+    <string-array name="nim_flow_man_co">
+        <item>@drawable/anim_flow_man_co_00000</item>
+        <item>@drawable/anim_flow_man_co_00001</item>
+        <item>@drawable/anim_flow_man_co_00002</item>
+        <item>@drawable/anim_flow_man_co_00003</item>
+        <item>@drawable/anim_flow_man_co_00004</item>
+        <item>@drawable/anim_flow_man_co_00005</item>
+        <item>@drawable/anim_flow_man_co_00006</item>
+        <item>@drawable/anim_flow_man_co_00007</item>
+        <item>@drawable/anim_flow_man_co_00008</item>
+        <item>@drawable/anim_flow_man_co_00009</item>
+        <item>@drawable/anim_flow_man_co_00010</item>
+        <item>@drawable/anim_flow_man_co_00011</item>
+        <item>@drawable/anim_flow_man_co_00012</item>
+        <item>@drawable/anim_flow_man_co_00013</item>
+        <item>@drawable/anim_flow_man_co_00014</item>
+        <item>@drawable/anim_flow_man_co_00015</item>
+        <item>@drawable/anim_flow_man_co_00016</item>
+        <item>@drawable/anim_flow_man_co_00017</item>
+        <item>@drawable/anim_flow_man_co_00018</item>
+        <item>@drawable/anim_flow_man_co_00019</item>
+        <item>@drawable/anim_flow_man_co_00020</item>
+        <item>@drawable/anim_flow_man_co_00021</item>
+        <item>@drawable/anim_flow_man_co_00022</item>
+        <item>@drawable/anim_flow_man_co_00023</item>
+        <item>@drawable/anim_flow_man_co_00024</item>
+        <item>@drawable/anim_flow_man_co_00025</item>
+        <item>@drawable/anim_flow_man_co_00026</item>
+        <item>@drawable/anim_flow_man_co_00027</item>
+        <item>@drawable/anim_flow_man_co_00028</item>
+        <item>@drawable/anim_flow_man_co_00029</item>
+        <item>@drawable/anim_flow_man_co_00030</item>
+        <item>@drawable/anim_flow_man_co_00031</item>
+        <item>@drawable/anim_flow_man_co_00032</item>
+        <item>@drawable/anim_flow_man_co_00033</item>
+        <item>@drawable/anim_flow_man_co_00034</item>
+        <item>@drawable/anim_flow_man_co_00035</item>
+        <item>@drawable/anim_flow_man_co_00036</item>
+        <item>@drawable/anim_flow_man_co_00037</item>
+        <item>@drawable/anim_flow_man_co_00038</item>
+        <item>@drawable/anim_flow_man_co_00039</item>
+        <item>@drawable/anim_flow_man_co_00040</item>
+        <item>@drawable/anim_flow_man_co_00041</item>
+        <item>@drawable/anim_flow_man_co_00042</item>
+        <item>@drawable/anim_flow_man_co_00043</item>
+        <item>@drawable/anim_flow_man_co_00044</item>
+        <item>@drawable/anim_flow_man_co_00045</item>
+        <item>@drawable/anim_flow_man_co_00046</item>
+        <item>@drawable/anim_flow_man_co_00047</item>
+        <item>@drawable/anim_flow_man_co_00048</item>
+        <item>@drawable/anim_flow_man_co_00049</item>
+        <item>@drawable/anim_flow_man_co_00050</item>
+        <item>@drawable/anim_flow_man_co_00051</item>
+        <item>@drawable/anim_flow_man_co_00052</item>
+        <item>@drawable/anim_flow_man_co_00053</item>
+        <item>@drawable/anim_flow_man_co_00054</item>
+        <item>@drawable/anim_flow_man_co_00055</item>
+        <item>@drawable/anim_flow_man_co_00056</item>
+        <item>@drawable/anim_flow_man_co_00057</item>
+        <item>@drawable/anim_flow_man_co_00058</item>
+        <item>@drawable/anim_flow_man_co_00059</item>
+
+    </string-array>
+
+</resources>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
index 06be2ebae5..4ee5711666 100644
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.kt
@@ -346,6 +346,9 @@ object TaxiPassengerModel {
                     startFailedMessage
                 )
             }
+
+            override fun brakeStatusChanged(isBrakeAvailable: Boolean) {
+            }
         }
 
     private val iMsgBoxEventListener: IMsgBoxEventListener = object : IMsgBoxEventListener {
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/provider/MoGoUpgradeProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/provider/MoGoUpgradeProviderImpl.kt
index 5f9bff95c3..2eece707f1 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/provider/MoGoUpgradeProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/upgrade/provider/MoGoUpgradeProviderImpl.kt
@@ -253,6 +253,11 @@ class MoGoUpgradeProviderImpl: IMoGoUpgradeProvider {
                     } catch (t: Throwable) {
                         t.printStackTrace()
                     }
+                    try {
+                        UpgradeDbHelper.deleteRecord(success.versionName)
+                    } catch (t:Throwable) {
+                        t.printStackTrace()
+                    }
                     return@also
                 }
             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 41852cf95d..edd8e6e8e5 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -770,7 +770,7 @@ internal class DebugSettingView @JvmOverloads constructor(
 
         // 强制绘制引导线
         tbIsDrawAutopilotTrajectoryData.setOnCheckedChangeListener { _, isChecked ->
-            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isChecked
+            FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView = isChecked
         }
 
         // 初始化 GSP数据源 数据
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 99a7a4e955..66602b194a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -362,6 +362,12 @@ internal class SOPSettingView @JvmOverloads constructor(
         scDrawPointCloudData.isChecked = FunctionBuildConfig.isDrawPointCloudData
         //是否渲染点云数据
         scDrawPointCloudData.setOnCheckedChangeListener { _, isChecked ->
+            //打开点云效果时，如果自车光圈是关闭状态，则自动打开自车光圈（点云是跟随光圈的 默认没有光圈就不显示点云的）
+            if(isChecked && !FunctionBuildConfig.isDisplayAnimEnable){
+                scCarAperture.isChecked = true
+            }else{
+                scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
+            }
             CallerAutoPilotControlManager.setIsDrawPointCloud(isChecked)
             FunctionBuildConfig.isDrawPointCloudData = isChecked
             CallerMapUIServiceManager.getMapUIController()?.setIsDrawPointCloud(isChecked)
@@ -371,11 +377,14 @@ internal class SOPSettingView @JvmOverloads constructor(
 
         //自车光圈
         scCarAperture.isChecked = FunctionBuildConfig.isDisplayAnimEnable
-        scCarAperture.setOnCheckedChangeListener { _, isChecked ->
+        scCarAperture.setOnCheckedChangeListener { compoundButton, isChecked ->
             CallerMapUIServiceManager.getMapUIController()?.setDisplayAnimEnable(isChecked)
-            FunctionBuildConfig.isDisplayAnimEnable = isChecked
             hmiAction("SOP 是否展示自车光圈，",isChecked)
             Log.i(TAG,"SOP 是否展示自车光圈，$isChecked")
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            FunctionBuildConfig.isDisplayAnimEnable = isChecked
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
index 26ae715708..e2f04774a2 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SystemVersionView.kt
@@ -378,7 +378,8 @@ class SystemVersionView @JvmOverloads constructor(
      */
     override fun onAutopilotStatusRespByQuery(status: SystemStatusInfo.StatusInfo) {
         if(status.hdMapVer!= null && status.hdMapVer.isNotEmpty()){
-            AppConfigInfo.adHdMapVersion = status.hdMapVer
+            //对地图版本进行截取
+            AppConfigInfo.adHdMapVersion = status.hdMapVer.substringAfter("/hadmap_data/").substringBefore(".sqlite")
             updateAdHdMapVersion()
         }
 
@@ -392,7 +393,8 @@ class SystemVersionView @JvmOverloads constructor(
      */
     override fun onSystemStatus(statusInf: SsmInfo.SsmStatusInf) {
         if(statusInf.hdMapVer!= null && statusInf.hdMapVer.isNotEmpty()){
-            AppConfigInfo.adHdMapVersion = statusInf.hdMapVer
+            //对地图版本进行截取
+            AppConfigInfo.adHdMapVersion = statusInf.hdMapVer.substringAfter("/hadmap_data/").substringBefore(".sqlite")
             updateAdHdMapVersion()
         }
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
index 838a597dc8..32ff8ae1a0 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MogoRouteOverlayManager.java
@@ -76,7 +76,7 @@ public class MogoRouteOverlayManager implements
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
         }
-        boolean force = FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
+        boolean force = FunctionBuildConfig.isForceDrawAutopilotTrajectoryByDebugSettingView || FunctionBuildConfig.isDemoMode && FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData;
         if (!force && autopilotMode.get() != 2) {
             RouteOverlayDrawer.getInstance().clearMogoRouteOverlay();
             return;
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index 517e4ca1e2..1b9d01dbb7 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -189,6 +189,13 @@ object FunctionBuildConfig {
     @JvmField
     var isIgnoreConditionsDrawAutopilotTrajectoryData = false
 
+    /**
+     * 调试面板中，是否开启了强制绘制引导线
+     */
+    @Volatile
+    @JvmField
+    var isForceDrawAutopilotTrajectoryByDebugSettingView = false
+
     /**
      * 皮肤模式
      * 0--默认夜间模式，