diff --git a/OCH/mogo-och-sweeper/build.gradle b/OCH/mogo-och-sweeper/build.gradle
index faa8d4934e..7572168325 100644
--- a/OCH/mogo-och-sweeper/build.gradle
+++ b/OCH/mogo-och-sweeper/build.gradle
@@ -51,7 +51,7 @@ dependencies {
 
     implementation rootProject.ext.dependencies.rxjava
     implementation rootProject.ext.dependencies.rxandroid
-
+    implementation rootProject.ext.dependencies.androidxcardview
     implementation project(":OCH:mogo-och-common-module")
 
     implementation rootProject.ext.dependencies.androidxrecyclerview
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
index d8663faa7a..d4aa341904 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperTabFragment.java
@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListener
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.listener.MogoMapListenerHandler;
@@ -29,6 +30,8 @@ import com.mogo.och.sweeper.view.SweeperTrafficDataView;
 import com.mogo.och.sweeper.view.SweeperWorkModeView;
 
 import androidx.constraintlayout.widget.Group;
+import androidx.fragment.app.FragmentTransaction;
+
 /**
  * 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
  * <p>
@@ -52,7 +55,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     private FrameLayout flTaskListPanelContainer;
     private Group groupTestPanel;
     //清扫车车辆基本信息 速度 档位 转向灯 红绿灯等
-    private SweeperTrafficDataView  mTrafficDataView;
+    private SweeperTrafficDataView mTrafficDataView;
     //清扫车模式展示
     private SweeperWorkModeView mClWorkMode;
     //清扫车模式选择面板
@@ -61,6 +64,12 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     private SweeperTaskMenuView mTaskMenu;
     //当前任务面板
     private SweeperCurrentTaskInfoView mCurrentTaskView;
+    //人工驾驶地图Fragment
+    private SweeperAmapNaviFragment mOchAmapNaviFragment;
+    //关闭人工驾驶小地图
+    private ImageView mCloseNavIcon;
+    //人工驾驶地图View
+    private FrameLayout mFlNaviPanelContainer;
 
     public static final String TYPE_ENTRANCE = "entrance";
     public boolean isAnimateRunning = false;
@@ -87,7 +96,10 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         mSettingBtn = findViewById(R.id.module_mogo_och_setting_layout);
         mBadcaseBtn = findViewById(R.id.module_mogo_och_badcase_rl);
         mAICollectBtn = findViewById(R.id.module_mogo_och_ai_collet_rl);
+        mCloseNavIcon = findViewById(R.id.sweeper_close_navi_icon);
+        mFlNaviPanelContainer = findViewById(R.id.module_mogo_och_navi_panel_container);
         initListener();
+        hideEagleConfig();
         //设置左下角四个按钮监听事件
         setBottomBtnListener();
         // 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
@@ -104,11 +116,12 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         findViewById(R.id.btnAutopilotRunning).setOnClickListener(view ->
                 debugAutoPilotStatus(IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING)
         );
+        showAmapNaviToStationFragment(true);
     }
 
     private void updateSwitchMapIcon() {
         IMogoMapUIController controller = CallerMapUIServiceManager.INSTANCE.getMapUIController();
-        if (controller!=null){
+        if (controller != null) {
             if (controller.getCurrentMapVisualAngle().isLongSight()) {
                 mSwitchMapModeImage.setImageResource(R.drawable.sweeper_switch_map_long);
             } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
@@ -154,9 +167,9 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
      * @return
      */
     public void setTaskListPanelView(boolean isShow) {
-        if (isShow){
+        if (isShow) {
             panelView.setVisibility(View.VISIBLE);
-        }else{
+        } else {
             panelView.setVisibility(View.GONE);
         }
     }
@@ -178,6 +191,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     public SweeperCurrentTaskInfoView getCurrentTaskPanelView() {
         return mCurrentTaskView;
     }
+
     /**
      * 获取菜单view
      *
@@ -186,6 +200,7 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
     public View getTaskMenuView() {
         return mTaskMenu;
     }
+
     /**
      * 清扫车任务列表面板view，在{@link #initViews()}时候添加到container中
      *
@@ -298,4 +313,33 @@ public abstract class BaseSweeperTabFragment<V extends IView, P extends Presente
         }
     }
 
+    /**
+     * 隐藏鹰眼原有控件
+     */
+    private void hideEagleConfig() {
+        //隐藏小地图
+        CallerSmpManager.INSTANCE.hidePanel();
+    }
+
+    /**
+     * 人工驾驶地图导航
+     *
+     * @param isShow
+     */
+    protected void showAmapNaviToStationFragment(boolean isShow) {
+        FragmentTransaction transaction = getChildFragmentManager().beginTransaction();
+        if (isShow) {
+            mOchAmapNaviFragment = SweeperAmapNaviFragment.newInstance();
+            if (mOchAmapNaviFragment.isAdded()) {
+                return;
+            }
+            transaction.add(R.id.module_mogo_och_navi_panel_container, mOchAmapNaviFragment).show(mOchAmapNaviFragment);
+            transaction.commitAllowingStateLoss();
+            mCloseNavIcon.setVisibility(View.VISIBLE);
+            mFlNaviPanelContainer.setVisibility(View.VISIBLE);
+        } else {
+            mCloseNavIcon.setVisibility(View.GONE);
+            mFlNaviPanelContainer.setVisibility(View.GONE);
+        }
+    }
 }
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperUIFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperUIFragment.java
new file mode 100644
index 0000000000..3ee40b9134
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/BaseSweeperUIFragment.java
@@ -0,0 +1,50 @@
+package com.mogo.och.sweeper.fragment;
+
+import android.os.Bundle;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+
+import androidx.annotation.NonNull;
+import androidx.annotation.Nullable;
+import androidx.fragment.app.Fragment;
+
+/**
+ * @author: wangmingjun
+ * @date: 2021/9/9
+ */
+public abstract class BaseSweeperUIFragment extends Fragment {
+    private View mRootView;
+    @Nullable
+    @Override
+    public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
+        if (mRootView == null) {
+            mRootView = inflater.inflate(getLayoutId(), container, false);
+        } else {
+            ViewGroup viewGroup = (ViewGroup) mRootView.getParent();
+            if (viewGroup != null) {
+                viewGroup.removeView(mRootView);
+            }
+        }
+        initViews(mRootView);
+        initViews(savedInstanceState);
+        return mRootView;
+    }
+    /**
+     * 布局资源
+     *
+     * @return
+     */
+    protected abstract int getLayoutId();
+
+    protected abstract void initViews(View view);
+
+    protected void initViews(Bundle savedInstanceState) {
+    }
+
+    @Override
+    public void onDestroy() {
+        super.onDestroy();
+        mRootView = null;
+    }
+}
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java
new file mode 100644
index 0000000000..00b26c29b9
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperAmapNaviFragment.java
@@ -0,0 +1,217 @@
+package com.mogo.och.sweeper.fragment;
+
+import android.os.Bundle;
+import android.view.View;
+
+import com.amap.api.navi.AMapNaviViewListener;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
+import com.mogo.och.common.module.map.CommonAmapNaviVIew;
+import com.mogo.och.common.module.map.ICommonNaviChangedCallback;
+import com.mogo.och.sweeper.R;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
+
+/**
+ * @author: wangmingjun
+ * @date: 2021/11/30
+ */
+public class SweeperAmapNaviFragment extends BaseSweeperUIFragment implements AMapNaviViewListener {
+
+    private CommonAmapNaviVIew mAMapNaviView;
+    private ICommonNaviChangedCallback mNaviToStartInfoCallback;
+    public static SweeperAmapNaviFragment newInstance() {
+        
+        Bundle args = new Bundle();
+
+        SweeperAmapNaviFragment fragment = new SweeperAmapNaviFragment();
+        fragment.setArguments(args);
+        return fragment;
+    }
+    
+    @Override
+    protected int getLayoutId() {
+        return R.layout.sweeper_amap_navi_view;
+    }
+
+    @Override
+    protected void initViews(View view) {
+        mAMapNaviView = view.findViewById(R.id.navi_view);
+    }
+
+    @Override
+    protected void initViews(Bundle savedInstanceState) {
+        super.initViews(savedInstanceState);
+        if (mAMapNaviView != null)
+        mAMapNaviView.onCreate(savedInstanceState);
+    }
+
+    @Override
+    public void onResume() {
+        super.onResume();
+        if (mAMapNaviView != null)
+        mAMapNaviView.onResume();
+    }
+
+    @Override
+    public void onPause() {
+        super.onPause();
+        if (mAMapNaviView != null)
+        mAMapNaviView.onPause();
+    }
+
+    @Override
+    public void onDestroy() {
+        super.onDestroy();
+
+        AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(false);
+        if (mAMapNaviView != null){
+            mAMapNaviView.onDestroy();
+        }
+
+        if (mNaviToStartInfoCallback != null){
+            mNaviToStartInfoCallback = null;
+        }
+    }
+
+    @Override
+    public void onNaviSetting() {
+        //底部导航设置点击回调
+    }
+
+    @Override
+    public void onNaviCancel() {
+    }
+
+    @Override
+    public void onNaviMapMode(int naviMode) {
+        //导航态车头模式，0:车头朝上状态；1:正北朝上模式。
+    }
+
+    @Override
+    public void onNaviTurnClick() {
+        //转弯view的点击回调
+    }
+
+    @Override
+    public void onNextRoadClick() {
+        //下一个道路View点击回调
+    }
+
+
+    @Override
+    public void onScanViewButtonClick() {
+        //全览按钮点击回调
+    }
+
+
+    @Override
+    public void onLockMap(boolean isLock) {
+        //锁地图状态发生变化时回调
+    }
+
+    @Override
+    public void onNaviViewLoaded() {
+        CallerLogger.INSTANCE.d(M_TAXI + "wlx", "导航页面加载成功");
+        CallerLogger.INSTANCE.d(M_TAXI + "wlx", "请不要使用AMapNaviView.getMap().setOnMapLoadedListener();会overwrite导航SDK内部画线逻辑");
+    }
+
+    @Override
+    public void onMapTypeChanged(int i) {
+
+    }
+
+    @Override
+    public void onNaviViewShowMode(int i) {
+
+    }
+
+    @Override
+    public boolean onNaviBackClick() {
+        return false;
+    }
+
+    /**
+     * 车道信息说明：
+     * <p>
+     * 0xFF, 无对应车道
+     * 0,    直行
+     * 1,    左转
+     * 2,    直行+左转
+     * 3,    右转
+     * 4,    直行+右转
+     * 5,    左掉头
+     * 6,    左转+右转
+     * 7,    直行+左转+右转
+     * 8,    右掉头
+     * 9,    直行+左掉头
+     * 10,   直行+右掉头
+     * 11,   左转+左掉头
+     * 12,   右转+右掉头
+     * 13,   直行+扩展
+     * 14,   左转+左掉头+扩展
+     * 15,   保留
+     * 16,   直行+左转+左掉头
+     * 17,   右转+左掉头
+     * 18,   左转+右转+左掉头
+     * 19,   直行+右转+左掉头
+     * 20,   左转+右掉头
+     * 21,   公交车道
+     * 22,   空车道
+     * 23    可变车道
+     */
+
+    String[] array = {
+            "直行车道"
+            , "左转车道"
+            , "左转或直行车道"
+            , "右转车道"
+            , "右转或直行车道"
+            , "左掉头车道"
+            , "左转或者右转车道"
+            , " 左转或右转或直行车道"
+            , "右转掉头车道"
+            , "直行或左转掉头车道"
+            , "直行或右转掉头车道"
+            , "左转或左掉头车道"
+            , "右转或右掉头车道"
+            , "直行并且车道扩展"
+            , "左转+左掉头+扩展"
+            , "不可以选择该车道"
+            , "直行+左转+左掉头车道"
+            , "右转+左掉头"
+            , "左转+右转+左掉头"
+            , "直行+右转+左掉头"
+            , "左转+右掉头"
+            , "公交车道"
+            , "空车道"
+            , "可变车道"
+    };
+
+    String[] actions = {
+            "直行"
+            , "左转"
+            , "左转或直行"
+            , "右转"
+            , "右转或这行"
+            , "左掉头"
+            , "左转或者右转"
+            , " 左转或右转或直行"
+            , "右转掉头"
+            , "直行或左转掉头"
+            , "直行或右转掉头"
+            , "左转或左掉头"
+            , "右转或右掉头"
+            , "直行并且车道扩展"
+            , "左转+左掉头+扩展"
+            , "不可以选择"
+            , "直行+左转+左掉头"
+            , "右转+左掉头"
+            , "左转+右转+左掉头"
+            , "直行+右转+左掉头"
+            , "左转+右掉头"
+            , "公交车道"
+            , "空车道"
+            , "可变车道"
+    };
+}
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png
new file mode 100644
index 0000000000..56525e7ed2
Binary files /dev/null and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_close_navi_icon.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png
new file mode 100644
index 0000000000..a3c3c32558
Binary files /dev/null and b/OCH/mogo-och-sweeper/src/main/res/drawable-xhdpi/sweeper_navi_refresh.png differ
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_amap_navi_view.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_amap_navi_view.xml
new file mode 100644
index 0000000000..10174a8e2a
--- /dev/null
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_amap_navi_view.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.cardview.widget.CardView xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    app:cardBackgroundColor="@android:color/transparent"
+    app:cardCornerRadius="30dp"
+    app:cardElevation="8dp"
+    app:cardPreventCornerOverlap="false"
+    app:cardUseCompatPadding="true">
+
+    <com.mogo.och.common.module.map.CommonAmapNaviVIew
+        android:id="@+id/navi_view"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content" />
+</androidx.cardview.widget.CardView>
diff --git a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
index bd02cb7c77..9bc969996f 100644
--- a/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/layout/sweeper_base_fragment.xml
@@ -141,6 +141,34 @@
             android:layout_gravity="center"
             android:src="@drawable/ai_collect_selector" />
     </FrameLayout>
+    <!--清扫手动驾驶路线导航-->
+    <FrameLayout
+        android:id="@+id/module_mogo_och_navi_panel_container"
+        android:layout_width="@dimen/dp_600"
+        android:layout_height="@dimen/dp_600"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent" />
+    <ImageView
+        android:id="@+id/sweeper_close_navi_icon"
+        android:layout_width="@dimen/dp_80"
+        android:layout_height="@dimen/dp_80"
+        android:visibility="gone"
+        android:src="@drawable/sweeper_close_navi_icon"
+        app:layout_constraintTop_toTopOf="@+id/module_mogo_och_navi_panel_container"
+        app:layout_constraintStart_toStartOf="@+id/module_mogo_och_navi_panel_container"
+        android:layout_marginTop="@dimen/dp_26"
+        android:layout_marginStart="@dimen/dp_24"
+        />
+    <ImageView
+        android:id="@+id/sweeper_refresh_navi"
+        android:layout_width="@dimen/dp_80"
+        android:layout_height="@dimen/dp_80"
+        android:layout_marginTop="@dimen/dp_26"
+        android:layout_marginEnd="@dimen/dp_24"
+        app:layout_constraintTop_toTopOf="@+id/module_mogo_och_navi_panel_container"
+        app:layout_constraintEnd_toEndOf="@+id/module_mogo_och_navi_panel_container"
+        android:src="@drawable/sweeper_navi_refresh"
+        />
     <Button
         android:id="@+id/btnAutopilotDisable"
         android:layout_width="wrap_content"