diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
index 376078cfc7..8e31176ef5 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.smp
 
 import android.content.Context
+import android.util.Log
 import com.amap.api.maps.CoordinateConverter
 import com.amap.api.maps.model.LatLng
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils
@@ -60,19 +61,28 @@ object MarkerDrawerManager {
     private fun getLoopCalCarObservable(): Observable<Int> {
         return Observable.create(ObservableOnSubscribe { emitter ->
             if (emitter.isDisposed) return@ObservableOnSubscribe
-            loopRouteAndWipe(planningPoints, lonLatHeading.first, lonLatHeading.second, lonLatHeading.third)
+            loopRouteAndWipe(
+                planningPoints,
+                lonLatHeading.first,
+                lonLatHeading.second,
+                lonLatHeading.third
+            )
             emitter.onComplete()
         })
     }
 
-    private fun loopRouteAndWipe(routePoints: List<LatLng>?, lon: Double, lat: Double, heading: Double) {
+    private fun loopRouteAndWipe(
+        routePoints: List<LatLng>?,
+        lon: Double,
+        lat: Double,
+        heading: Double
+    ) {
         if (routePoints != null && routePoints.isNotEmpty()) {
             val newPointList = ArrayList<LatLng>()
-            val arrivedIndex: Int = getArrivedPointIndex(routePoints, newPointList, lon, lat, heading)
-            if (arrivedIndex != -1 && lastArrivedIndex != arrivedIndex) {
-                callback?.onLocationChanged(newPointList, arrivedIndex)
-                lastArrivedIndex = arrivedIndex
-            }
+            val locationIndex: Int =
+                getCarLocationIndex(routePoints, newPointList, lon, lat, heading)
+            Log.d("MarkerDrawerManager", "自车在轨迹集合中的索引为：$locationIndex")
+            callback?.onLocationChanged(newPointList, locationIndex)
         }
     }
 
@@ -90,7 +100,7 @@ object MarkerDrawerManager {
      * @param realLat
      * @return 返回已经到达点的index
      */
-    private fun getArrivedPointIndex(
+    private fun getCarLocationIndex(
         routePoints: List<LatLng>,
         newPoints: MutableList<LatLng>,
         realLon: Double,
@@ -112,12 +122,21 @@ object MarkerDrawerManager {
                 if (baseDiffDis > diff) {
                     baseDiffDis = diff
                     // 距离最近的时候判断是否走过
-                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(realLon, realLat, latLng.longitude, latLng.latitude, heading) >= 90) {
+                    if (DrivingDirectionUtils.getDegreeOfCar2Poi2(
+                            realLon,
+                            realLat,
+                            latLng.longitude,
+                            latLng.latitude,
+                            heading
+                        ) >= 90
+                    ) {
                         currentIndex = if (i < lastArrivedIndex) {
                             lastArrivedIndex
                         } else {
+                            lastArrivedIndex = i
                             i
                         }
+                        Log.d("MarkerDrawerManager", "已走过的点的索引为：$currentIndex")
                     }
                 }
             }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
index e0c5bb8a82..f2e0f44f6f 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -46,7 +46,6 @@ import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
 import com.mogo.eagle.core.function.smp.V2XMarkerView
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -124,6 +123,9 @@ class OverMapView @JvmOverloads constructor(
     var siteMarkerList: ArrayList<Marker>? = null
     var siteNameList: ArrayList<Marker>? = null
 
+    @Volatile
+    private var isInit = false
+
     companion object {
         const val TAG = "OverMapView"
     }
@@ -329,6 +331,7 @@ class OverMapView @JvmOverloads constructor(
         MarkerDrawerManager.stopLoopCalCarLocation()
         planningPoints.clear()
         lastArrivedIndex = -1
+        isInit = false
     }
 
     @SuppressLint("UseCompatLoadingForDrawables")
@@ -460,34 +463,42 @@ class OverMapView @JvmOverloads constructor(
     }
 
     fun handlePlanningData(locationList: List<MessagePad.Location>?) {
-        if (locationList.isNullOrEmpty()) return
-        val list: List<MessagePad.Location> = locationList
-        // 转成高德坐标系并存储
-        updateRoutePoints(list, mContext!!)
-        val planningPointList: List<LatLng> = planningPoints
-        UiThreadHandler.post {
-            displayCustomOverView()
-            drawStartAndEndMarker(planningPointList)
+        if (locationList.isNullOrEmpty()) {
+            Log.d(TAG, "全局路径规划轨迹为空")
+            return
         }
-        callback = object : MarkerDrawerManager.Callback {
-            override fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int) {
-                // 每1s刷新一下轨迹线
-                UiThreadHandler.post {
-                    if (planningPoints.isNotEmpty()) {
-                        drawPolyline(planningPoints, locIndex)
-                    }
+        val list: List<MessagePad.Location> = locationList
+        ThreadUtils.getSinglePool().submit {
+            lastArrivedIndex = -1
+            // 转成高德坐标系并存储
+            updateRoutePoints(list, mContext!!)
+            val planningPointList: List<LatLng> = planningPoints
+            UiThreadHandler.post {
+                displayCustomOverView()
+                drawStartAndEndMarker(planningPointList)
+
+                if (geoHashInfMap.isNullOrEmpty()) {
+                    UiThreadHandler.postDelayed({
+                        drawInfrastructureMarkers(locationList)
+                    }, 1000)
+                } else {
+                    drawInfrastructureMarkers(locationList)
                 }
             }
         }
-        startLoopCalCarLocation()
-        UiThreadHandler.post {
-            if (geoHashInfMap.isNullOrEmpty()) {
-                UiThreadHandler.postDelayed({
-                    drawInfrastructureMarkers(locationList)
-                }, 1000)
-            } else {
-                drawInfrastructureMarkers(locationList)
+        if (!isInit) {
+            callback = object : MarkerDrawerManager.Callback {
+                override fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int) {
+                    // 每1s刷新一下轨迹线
+                    UiThreadHandler.post {
+                        if (planningPoints.isNotEmpty()) {
+                            drawPolyline(planningPoints, locIndex)
+                        }
+                    }
+                }
             }
+            startLoopCalCarLocation()
+            isInit = true
         }
     }