diff --git a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
index 98e2f413aa..1017f2b3dc 100644
--- a/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/mogo-och-bus/src/jinlvvan/java/com/mogo/och/bus/model/OrderModel.java
@@ -8,6 +8,7 @@ import static com.mogo.och.bus.constant.BusConst.STATION_STATUS_STOPPED;
 import android.content.Context;
 import android.os.Handler;
 import android.os.Message;
+import android.text.TextUtils;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -620,6 +621,18 @@ public class OrderModel {
      */
     private void startAutopilot(boolean isRestart, int leaveIndex) {
 
+        //根据开关和后台是否发布轨迹启动自驾
+        if (FunctionBuildConfig.isPassStartAutopilotCommand && (TextUtils.isEmpty(busRoutesResult.csvFileUrl)
+                || TextUtils.isEmpty(busRoutesResult.csvFileUrlDPQP))){
+            ToastUtils.showLong("无发布轨迹, 请发布后重试");
+            CallerLogger.INSTANCE.e(M_BUS + TAG, "isPassStartAutopilotCommand = " +
+                    FunctionBuildConfig.isPassStartAutopilotCommand);
+            return;
+        }
+
+        CallerLogger.INSTANCE.e(M_BUS + TAG, "isPassStartAutopilotCommand = " +
+                FunctionBuildConfig.isPassStartAutopilotCommand);
+
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
             ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
                     ", 请稍候重试");
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index f2fe9e088c..0d5c1aa63c 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -3,6 +3,7 @@ package com.mogo.och.taxi.model;
 import android.content.Context;
 import android.content.Intent;
 import android.net.ConnectivityManager;
+import android.text.TextUtils;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -898,12 +899,25 @@ public class TaxiModel {
             clientPkFileName = "sn"
     )
     public void startAutoPilot() {
+
         if (!checkCurrentOCHOrder()) {
             CallerLogger.INSTANCE.e(M_TAXI + TAG, "no order or order is empty.");
             ToastUtils.showShort("当前订单不存在或异常！");
             return;
         }
 
+        //根据开关和后台是否发布轨迹启动自驾
+        if (FunctionBuildConfig.isPassStartAutopilotCommand && (TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrl)
+                || TextUtils.isEmpty(mCurrentOCHOrder.csvFileUrlDPQP))){
+            ToastUtils.showLong("无发布轨迹, 请发布后重试");
+            CallerLogger.INSTANCE.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " +
+                    FunctionBuildConfig.isPassStartAutopilotCommand);
+            return;
+        }
+
+        CallerLogger.INSTANCE.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " +
+                FunctionBuildConfig.isPassStartAutopilotCommand);
+
         if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()){
             ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
                     ", 请稍候重试");
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 17d70cd126..a2fe6907a8 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
@@ -1010,6 +1010,19 @@ internal class DebugSettingView @JvmOverloads constructor(
             tbReportWarning.visibility = GONE
         }
 
+
+        //是否开启无轨迹发送自驾命令
+        tbStartAutopilotCommand.isChecked = FunctionBuildConfig.isPassStartAutopilotCommand
+        tbStartAutopilotCommand.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isPassStartAutopilotCommand = isChecked
+        }
+
+        if (!AppIdentityModeUtils.isTaxiDriver(FunctionBuildConfig.appIdentityMode)
+            && !AppIdentityModeUtils.isBusDriver(FunctionBuildConfig.appIdentityMode)){
+            tbStartAutopilotCommand.visibility = GONE
+        }
+
+
         //切换环境
         tvCurEnv.text = "当前环境:${CallerDevaToolsManager.getEnvCityName()}${CallerDevaToolsManager.getEnvNetMode()}"
         btChangeEnv.onClick {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 8ab4712eae..81b044daa6 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -1346,6 +1346,19 @@
                         android:textSize="@dimen/dp_24"
                         app:layout_constraintTop_toBottomOf="@id/btnConnectServerIp" />
 
+                    <androidx.appcompat.widget.SwitchCompat
+                        android:id="@+id/tbStartAutopilotCommand"
+                        style="@style/DebugSettingText"
+                        android:layout_width="wrap_content"
+                        android:layout_height="@dimen/dp_80"
+                        android:layout_gravity="end"
+                        android:layout_marginRight="@dimen/dp_20"
+                        app:switchMinWidth="60dp"
+                        android:text="后台未发布轨迹不可启动自驾"
+                        android:textSize="@dimen/dp_28"
+                        app:layout_constraintRight_toRightOf="parent"
+                        app:layout_constraintTop_toBottomOf="@id/tbReportWarning" />
+
                 </androidx.constraintlayout.widget.ConstraintLayout>
 
                 <ToggleButton
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 8ada384461..c04455f751 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
@@ -238,4 +238,8 @@ object FunctionBuildConfig {
     @Volatile
     @JvmField
     var isV2NPnc = false
+
+    @Volatile
+    @JvmField
+    var isPassStartAutopilotCommand = true
 }
\ No newline at end of file