diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningFloat.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningFloat.kt
index 3978fd41dc..b614320418 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningFloat.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningFloat.kt
@@ -1,7 +1,6 @@
 package com.mogo.eagle.core.function.hmi.notification
 
 import android.content.Context
-import android.content.ContextWrapper
 import android.view.LayoutInflater
 import android.view.View
 import androidx.appcompat.view.ContextThemeWrapper
@@ -165,6 +164,10 @@ class WarningFloat {
             this.config.isOverride = isOverride
         }
 
+        fun isEnqueue(enqueue: Boolean) = apply {
+            this.config.isEnqueue = enqueue
+        }
+
         /**
          * 创建浮窗，包括Activity浮窗和系统浮窗，如若系统浮窗无权限，先进行权限申请
          */
@@ -181,10 +184,14 @@ class WarningFloat {
                     } else if (config.layoutId != null) {
                         content = LayoutInflater.from(activity).inflate(config.layoutId!!, null)
                     }
-                    content?.let {
-                        config.layoutId = null
-                        config.layoutView = it
-                        Reminder.enqueue(getLifecycleOwner(activity), WarningFloatReminder(activity, config, it))
+                    if (config.isEnqueue) {
+                        content?.let {
+                            config.layoutId = null
+                            config.layoutView = it
+                            Reminder.enqueue(getLifecycleOwner(activity), WarningFloatReminder(activity, config, it))
+                        }
+                    } else {
+                        WarningFloatWindowManager.create(activity, config)
                     }
                 }
             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningNotificationConfig.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningNotificationConfig.kt
index 9f8b7b2848..722c037e3d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningNotificationConfig.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/notification/WarningNotificationConfig.kt
@@ -66,5 +66,6 @@ data class WarningNotificationConfig(
     // 窗口高度
     var height: Int = WindowManager.LayoutParams.WRAP_CONTENT
     ) {
+    var isEnqueue: Boolean = false
     var isOverride: Boolean = true
 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
index 65e4afbac9..d236813e85 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiFragment.kt
@@ -545,7 +545,6 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
                         .setSidePattern(SidePattern.RIGHT)
                         .setGravity(Gravity.RIGHT, offsetY = 70)
                         .setImmersionStatusBar(true)
-                        .isOverride(false)
                         .setAnimator(object : DefaultAnimator() {
                             override fun enterAnim(
                                     view: View,
@@ -607,6 +606,7 @@ class MoGoHmiFragment : MvpFragment<MoGoWarningContract.View?, WaringPresenter?>
                     .setCountDownTime(expireTime)
                     .setGravity(Gravity.CENTER_HORIZONTAL, offsetY = 110)
                     .setImmersionStatusBar(true)
+                    .isEnqueue(true)
                     .addWarningStatusListener(listenerIMoGo)
                     .addWarningStatusListener(object : IMoGoWarningStatusListener {
                         override fun onShow() {
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
index 0494bb8d33..9693ff022e 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -5,6 +5,7 @@ import android.location.Location;
 import android.os.SystemClock;
 import android.util.Log;
 
+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
@@ -19,8 +20,10 @@ import com.mogo.eagle.core.function.api.map.listener.IMoGoMapLocationListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.map.CallerMapLocationListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.service.adas.IMogoAdasOCHCallback;
 
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
@@ -28,7 +31,7 @@ import org.jetbrains.annotations.Nullable;
 import java.util.ArrayList;
 import java.util.List;
 
-public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener, IMoGoMapLocationListener {
+public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener, IMoGoMapLocationListener, IMogoAdasOCHCallback {
     private static volatile MogoRouteOverlayManager sInstance;
     private Context mContext;
     private String TAG = "MogoRouteOverlayManager";
@@ -44,6 +47,7 @@ public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener,
         CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
         CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
         CallerMapLocationListenerManager.INSTANCE.addListener(TAG,this);
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasOCHCallback(this);
 //        intiDrawer();
     }
 
@@ -127,6 +131,12 @@ public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener,
     @Override
     public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
 
+        if(autopilotWayArrive == null){
+            return;
+        }
+        Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
+        //演示模式下 到达终点将忽略 引导线绘制 选项关闭
+        FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false;
     }
 
     @Override
@@ -143,4 +153,14 @@ public class MogoRouteOverlayManager implements IMoGoAutopilotPlanningListener,
     public void onLocationChanged(@Nullable MogoLocation location) {
         mLocation = location;
     }
+
+    @Override
+    public void onArriveAt(AutopilotStationInfo data) {
+
+    }
+
+    @Override
+    public void onStateChanged(int state, String reason) {
+
+    }
 }