diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java
index 8768a0623e..be1455d093 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/adapter/BusPassengerLineStationsAdapter.java
@@ -28,6 +28,7 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
     private static final int LINE_START_STATION_ITEM = 0;
     private static final int LINE_END_STATION_ITEM = 1;
     private static final int LINE_MIDDLE_STATION_ITEM = 2;
+    private String preArrivingStation = "";
 
     public BusPassengerLineStationsAdapter(Context context, List<BusPassengerStation> stations){
          this.mContext = context;
@@ -57,41 +58,58 @@ public class BusPassengerLineStationsAdapter extends RecyclerView.Adapter<Recycl
         BusPassengerStation station = mStations.get(position);
         if (holder instanceof StartStationViewHolder){
             StartStationViewHolder viewHolder = (StartStationViewHolder)holder;
-            viewHolder.startStationName.setText(station.getName());
+            if (!preArrivingStation.equals(station.getName())){
+                viewHolder.startStationName.setText(station.getName());
+            }
             if (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving()){//到站
                 viewHolder.curStationBg.setVisibility(View.VISIBLE);
                 viewHolder.stationCircle.setVisibility(View.GONE);
                 viewHolder.startStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_current_station_txt_color));
+                viewHolder.startStationName.setSelected(true);
+                preArrivingStation = station.getName();
             }else {
                 viewHolder.curStationBg.setVisibility(View.GONE);
                 viewHolder.stationCircle.setVisibility(View.VISIBLE);
                 viewHolder.startStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
+                viewHolder.startStationName.setSelected(false);
             }
         }else if (holder instanceof EndStationViewHolder){
             EndStationViewHolder viewHolder = (EndStationViewHolder)holder;
-            viewHolder.endStationName.setText(station.getName());
+            if (!preArrivingStation.equals(station.getName())){
+                viewHolder.endStationName.setText(station.getName());
+            }
             BusPassengerStation preStation = mStations.get(position -1);
             if ((preStation.getDrivingStatus() == STATION_STATUS_STOPPED && preStation.isLeaving())
                     || (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving())){//到站
                 viewHolder.curStationBg.setVisibility(View.VISIBLE);
                 viewHolder.stationCircle.setVisibility(View.GONE);
                 viewHolder.endStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_current_station_txt_color));
+                viewHolder.endStationName.setSelected(true);
+                preArrivingStation = station.getName();
             }else {
                 viewHolder.curStationBg.setVisibility(View.GONE);
                 viewHolder.stationCircle.setVisibility(View.VISIBLE);
                 viewHolder.endStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
+                viewHolder.endStationName.setSelected(false);
             }
         }else {
             MiddleStationViewHolder viewHolder = (MiddleStationViewHolder)holder;
-            viewHolder.middleStationName.setText(station.getName());
+            if (!preArrivingStation.equals(station.getName())){
+                viewHolder.middleStationName.setText(station.getName());
+            }
             BusPassengerStation preStation = mStations.get(position -1);
             if ((preStation.getDrivingStatus() == STATION_STATUS_STOPPED && preStation.isLeaving())
                  || (station.getDrivingStatus() == STATION_STATUS_STOPPED && !station.isLeaving())) {//到站
                 viewHolder.curStationBg.setVisibility(View.VISIBLE);
                 viewHolder.middleStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_current_station_txt_color));
+                viewHolder.stationCircle.setVisibility(View.GONE);
+                viewHolder.middleStationName.setSelected(true);
+                preArrivingStation = station.getName();
             }else {
                 viewHolder.curStationBg.setVisibility(View.GONE);
                 viewHolder.middleStationName.setTextColor(mContext.getResources().getColor(R.color.bus_p_station_txt_color));
+                viewHolder.stationCircle.setVisibility(View.VISIBLE);
+                viewHolder.middleStationName.setSelected(false);
             }
         }
     }
@@ -144,9 +162,11 @@ class MiddleStationViewHolder extends RecyclerView.ViewHolder{
 
     public TextView middleStationName;
     public ImageView curStationBg;
+    public ImageView stationCircle;
     public MiddleStationViewHolder(@NonNull View itemView) {
         super(itemView);
         middleStationName = itemView.findViewById(R.id.bus_p_middle_station);
         curStationBg = itemView.findViewById(R.id.bus_p_middle_tag);
+        stationCircle = itemView.findViewById(R.id.bus_p_middle_circle);
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
index 117e3a3c85..f0ac1c9a42 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
@@ -198,13 +198,13 @@ public class BusPassengerMapDirectionView
             }
             boundsBuilder.include(currentLatLng);
             //第二个参数为四周留空宽度
-             mAMap.animateCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(),100,100,100,100));
+             mAMap.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(),100,100,100,100));
 
         }else {
             //设置希望展示的地图缩放级别
             CameraPosition cameraPosition = new CameraPosition.Builder()
                     .target(mCarMarker.getPosition()).tilt(0).bearing(location.getBearing()).zoom(zoomLevel).build();
-            mAMap.animateCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
+            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
         }
     }
 
diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
index 8a7bf168df..d73464a24a 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerRouteFragment.java
@@ -14,7 +14,6 @@ import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 
 import com.amap.api.maps.model.LatLng;
-import com.mogo.eagle.core.data.app.AppConfigInfo;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -36,7 +35,8 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
  * @date: 2022/4/12
  */
 public class BusPassengerRouteFragment extends
-        BusPassengerBaseFragment<BusPassengerRouteFragment, BaseBusPassengerPresenter> implements IBusPassengerMapViewCallback {
+        BusPassengerBaseFragment<BusPassengerRouteFragment, BaseBusPassengerPresenter>
+        implements IBusPassengerMapViewCallback {
 
     private final String TAG = "BusPassengerRouteFragment";
 
@@ -224,6 +224,10 @@ public class BusPassengerRouteFragment extends
         mStationsList.addAll(stations);
         mAdapter.notifyDataSetChanged();
 
+        if (currentStationIndex > -1){
+            updateCurrentStation(currentStationIndex);
+        }
+
         if (currentStationIndex == 0 && isArrived){ //到达始发站且并未出发， 恢复站点marker 清楚路径 清空路径点
             clearPolyline();
             if (mMapDirectionView != null) mMapDirectionView.clearCoordinatesLatLng();
@@ -282,4 +286,10 @@ public class BusPassengerRouteFragment extends
         int speedKM = (int) (Math.abs(speed) * 3.6F);
         mSpeedTv.setText(String.valueOf(speedKM));
     }
+
+    public void updateCurrentStation(int position) {
+        if (mStationsListRv != null){
+            mStationsListRv.smoothScrollToPosition(position);
+        }
+    }
 }
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/drawable/bg_bus_p_middle_station_circle.xml b/OCH/mogo-och-bus-passenger/src/main/res/drawable/bg_bus_p_middle_station_circle.xml
new file mode 100644
index 0000000000..4dca66c4fe
--- /dev/null
+++ b/OCH/mogo-och-bus-passenger/src/main/res/drawable/bg_bus_p_middle_station_circle.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <solid android:color="@color/bus_p_tag_line_color" />
+    <corners android:radius="@dimen/bus_p_station_circle_radius_size" />
+</shape>
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
index d60bc0ae92..557e12642e 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_base_fragment.xml
@@ -53,13 +53,15 @@
 
     <TextView
         android:id="@+id/bus_p_cur_station_name"
-        android:layout_width="wrap_content"
+        android:layout_width="@dimen/bus_p_curent_station_txt_width"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_10"
         android:textColor="@color/bus_p_panel_cur_station_txt_color"
         android:textSize="@dimen/bus_p_curent_station_txt_size1"
         android:textStyle="bold"
         android:text="-- --"
+        android:maxLines="1"
+        android:ellipsize="end"
         android:elevation="@dimen/dp_10"
         app:layout_constraintLeft_toLeftOf="@+id/bus_p_cur_station_title"
         app:layout_constraintTop_toBottomOf="@+id/bus_p_cur_station_title" />
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
index dc85f5d3b6..badb81fb9e 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_route_fragment.xml
@@ -145,10 +145,12 @@
             <androidx.recyclerview.widget.RecyclerView
                 android:id="@+id/bus_p_line_stations_rl"
                 android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_marginTop="@dimen/bus_p_driver_number_plate_margin_top"
+                android:layout_height="match_parent"
+                android:layout_marginTop="@dimen/dp_280"
+                android:paddingBottom="@dimen/dp_30"
                 android:paddingLeft="@dimen/bus_p_route_info_margin_left"
                 android:paddingRight="@dimen/bus_p_route_info_margin_right"
+                android:requiresFadingEdge="vertical"
                 app:layout_constraintLeft_toLeftOf="@+id/bus_p_driver_num_plate_tv"
                 app:layout_constraintTop_toBottomOf="@+id/dividing_line_2" />
 
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_end_item.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_end_item.xml
index 3468664cc3..9d2edfd07f 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_end_item.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_end_item.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
-    android:layout_height="@dimen/bus_p_station_item_height"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/bus_p_station_item_height"
     xmlns:app="http://schemas.android.com/apk/res-auto">
 
     <ImageView
         android:layout_width="@dimen/bus_p_station_tag_line_width"
-        android:layout_height="@dimen/bus_p_station_tag_line_height"
+        android:layout_height="@dimen/bus_p_station_tag_line_height1"
         android:background="@color/bus_p_tag_line_color"
         android:layout_marginLeft="@dimen/dp_7"
         app:layout_constraintTop_toTopOf="parent"
@@ -14,17 +15,21 @@
 
     <TextView
         android:id="@+id/bus_p_end_station"
-        android:layout_width="wrap_content"
+        android:layout_width="match_parent"
         android:layout_height="wrap_content"
         android:text="--"
         android:textSize="@dimen/bus_p_station_txt_size"
         android:textStyle="bold"
         android:includeFontPadding = "false"
+        android:singleLine="true"
+        android:ellipsize="marquee"
+        android:marqueeRepeatLimit="marquee_forever"
+        android:layout_marginRight="@dimen/dp_60"
         android:textColor="@color/bus_p_station_txt_color"
         android:layout_marginLeft="@dimen/dp_45"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="@+id/bus_p_end_tag"
-        app:layout_constraintBottom_toBottomOf="@+id/bus_p_end_tag"/>
+        app:layout_constraintRight_toLeftOf="@+id/bus_p_end_tag"
+        app:layout_constraintBottom_toBottomOf="parent"/>
 
     <ImageView
         android:id="@+id/bus_p_end_circle"
@@ -38,9 +43,11 @@
         android:id="@+id/bus_p_cur_end_station_tag"
         android:layout_width="@dimen/bus_p_cur_station_circle_width"
         android:layout_height="wrap_content"
+        android:scaleType="fitXY"
         android:background="@drawable/bg_bus_p_arrived_station"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintBottom_toBottomOf="@+id/bus_p_end_station"/>
+        app:layout_constraintBottom_toBottomOf="@+id/bus_p_end_station"
+        app:layout_constraintTop_toTopOf="@+id/bus_p_end_station"/>
 
     <ImageView
         android:id="@+id/bus_p_end_tag"
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_middle_item.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_middle_item.xml
index 85018cff68..9acb37947a 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_middle_item.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_middle_item.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
-    android:layout_height="@dimen/bus_p_station_item_middle_height"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/bus_p_station_item_middle_height"
     xmlns:app="http://schemas.android.com/apk/res-auto">
 
     <ImageView
@@ -20,11 +21,17 @@
         app:layout_constraintLeft_toLeftOf="parent"/>
     <TextView
         android:id="@+id/bus_p_middle_station"
-        android:layout_width="wrap_content"
+        android:layout_width="@dimen/bus_p_station_txt_width"
         android:layout_height="wrap_content"
         android:text="--"
         android:textSize="@dimen/bus_p_station_txt_size"
         android:textStyle="bold"
+        android:layout_marginTop="@dimen/dp_20"
+        android:layout_marginBottom="@dimen/dp_20"
+        android:singleLine="true"
+        android:ellipsize="marquee"
+        android:marqueeRepeatLimit="marquee_forever"
+        android:layout_marginRight="@dimen/dp_60"
         android:includeFontPadding = "false"
         android:textColor="@color/bus_p_current_station_txt_color"
         android:layout_marginLeft="@dimen/dp_45"
@@ -32,15 +39,23 @@
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintBottom_toBottomOf="parent"/>
 
-
+    <ImageView
+        android:id="@+id/bus_p_middle_circle"
+        android:layout_width="@dimen/bus_p_station_circle_width_height"
+        android:layout_height="@dimen/bus_p_station_circle_width_height"
+        android:background="@drawable/bg_bus_p_middle_station_circle"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/bus_p_middle_station"
+        app:layout_constraintBottom_toBottomOf="@+id/bus_p_middle_station"/>
     <ImageView
         android:id="@+id/bus_p_middle_tag"
         android:layout_width="@dimen/bus_p_cur_station_circle_width"
         android:layout_height="wrap_content"
+        android:scaleType="fitXY"
         android:background="@drawable/bg_bus_p_arrived_station"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"/>
+        app:layout_constraintTop_toTopOf="@+id/bus_p_middle_station"
+        app:layout_constraintBottom_toBottomOf="@+id/bus_p_middle_station"/>
 
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_start_item.xml b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_start_item.xml
index 73d61aa690..50ed06a589 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_start_item.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/layout/bus_p_stations_start_item.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="match_parent"
-    android:layout_height="@dimen/bus_p_station_item_height"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/bus_p_station_item_height"
     xmlns:app="http://schemas.android.com/apk/res-auto">
 
     <ImageView
         android:layout_width="@dimen/bus_p_station_tag_line_width"
-        android:layout_height="@dimen/bus_p_station_tag_line_height"
+        android:layout_height="@dimen/bus_p_station_tag_line_height1"
         android:background="@color/bus_p_tag_line_color"
         android:layout_marginLeft="@dimen/dp_7"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -14,17 +15,21 @@
 
     <TextView
         android:id="@+id/bus_p_start_station"
-        android:layout_width="wrap_content"
+        android:layout_width="match_parent"
         android:layout_height="wrap_content"
+        android:layout_marginLeft="@dimen/dp_45"
+        android:includeFontPadding="false"
         android:text="--"
+        android:singleLine="true"
+        android:ellipsize="marquee"
+        android:marqueeRepeatLimit="marquee_forever"
+        android:textColor="@color/bus_p_station_txt_color"
         android:textSize="@dimen/bus_p_station_txt_size"
         android:textStyle="bold"
-        android:includeFontPadding = "false"
-        android:textColor="@color/bus_p_station_txt_color"
-        android:layout_marginLeft="@dimen/dp_45"
+        android:layout_marginRight="@dimen/dp_60"
+        app:layout_constraintRight_toLeftOf="@+id/bus_p_start_tag"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="@+id/bus_p_start_tag"
-        app:layout_constraintBottom_toBottomOf="@+id/bus_p_start_tag"/>
+        app:layout_constraintTop_toTopOf="parent" />
 
     <ImageView
         android:id="@+id/bus_p_start_circle"
@@ -39,9 +44,11 @@
         android:id="@+id/bus_p_cur_start_station_tag"
         android:layout_width="@dimen/bus_p_cur_station_circle_width"
         android:layout_height="wrap_content"
+        android:scaleType="fitXY"
         android:background="@drawable/bg_bus_p_arrived_station"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toTopOf="@+id/bus_p_start_station"/>
+        app:layout_constraintTop_toTopOf="@+id/bus_p_start_station"
+        app:layout_constraintBottom_toBottomOf="@+id/bus_p_start_station"/>
 
     <ImageView
         android:id="@+id/bus_p_start_tag"
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/values-sw320dp/dimens.xml b/OCH/mogo-och-bus-passenger/src/main/res/values-sw320dp/dimens.xml
index a1fc427a76..d79687928f 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/values-sw320dp/dimens.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/values-sw320dp/dimens.xml
@@ -43,7 +43,8 @@
     <dimen name="bus_p_station_tag_txt_size">36px</dimen>
     <dimen name="bus_p_station_item_height">80px</dimen>
     <dimen name="bus_p_station_item_middle_height">100px</dimen>
-    <dimen name="bus_p_station_tag_line_height">50px</dimen>
+    <dimen name="bus_p_station_tag_line_height">80px</dimen>
+    <dimen name="bus_p_station_tag_line_height1">60px</dimen>
     <dimen name="bus_p_station_tag_line_width">6px</dimen>
 
     <dimen name="bus_p_curent_station_panel_width">638px</dimen>
@@ -52,4 +53,7 @@
     <dimen name="bus_p_curent_station_txt_size">44px</dimen>
     <dimen name="bus_p_curent_station_txt_size1">55px</dimen>
     <dimen name="bus_p_curent_station_tip_size1">40px</dimen>
+
+    <dimen name="bus_p_curent_station_txt_width">584px</dimen>
+    <dimen name="bus_p_station_txt_width">550px</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/main/res/values/dimens.xml b/OCH/mogo-och-bus-passenger/src/main/res/values/dimens.xml
index bb114661c1..6ad2fdc16a 100644
--- a/OCH/mogo-och-bus-passenger/src/main/res/values/dimens.xml
+++ b/OCH/mogo-och-bus-passenger/src/main/res/values/dimens.xml
@@ -44,7 +44,8 @@
     <dimen name="bus_p_station_tag_txt_size">36px</dimen>
     <dimen name="bus_p_station_item_height">80px</dimen>
     <dimen name="bus_p_station_item_middle_height">100px</dimen>
-    <dimen name="bus_p_station_tag_line_height">50px</dimen>
+    <dimen name="bus_p_station_tag_line_height">80px</dimen>
+    <dimen name="bus_p_station_tag_line_height1">60px</dimen>
     <dimen name="bus_p_station_tag_line_width">6px</dimen>
 
     <dimen name="bus_p_curent_station_panel_width">638px</dimen>
@@ -53,4 +54,7 @@
     <dimen name="bus_p_curent_station_txt_size">44px</dimen>
     <dimen name="bus_p_curent_station_txt_size1">55px</dimen>
     <dimen name="bus_p_curent_station_tip_size1">40px</dimen>
+
+    <dimen name="bus_p_curent_station_txt_width">584px</dimen>
+    <dimen name="bus_p_station_txt_width">550px</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-bus/build.gradle b/OCH/mogo-och-bus/build.gradle
index c4d26e2410..d2a1a0614e 100644
--- a/OCH/mogo-och-bus/build.gradle
+++ b/OCH/mogo-och-bus/build.gradle
@@ -47,6 +47,7 @@ dependencies {
     implementation rootProject.ext.dependencies.arouter
     annotationProcessor rootProject.ext.dependencies.aroutercompiler
     implementation rootProject.ext.dependencies.androidxconstraintlayout
+    implementation rootProject.ext.dependencies.amapnavi3dmap
 
     implementation rootProject.ext.dependencies.rxjava
     implementation rootProject.ext.dependencies.rxandroid
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutePlanningUpdateReqBean.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutePlanningUpdateReqBean.java
new file mode 100644
index 0000000000..080e7d47bd
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/bean/BusRoutePlanningUpdateReqBean.java
@@ -0,0 +1,30 @@
+package com.mogo.och.bus.bean;
+
+import java.util.List;
+
+/**
+ * Created by pangfan on 2021/8/19
+ *
+ * 订单状态更新请求数据结构
+ */
+public class BusRoutePlanningUpdateReqBean {
+    public String sn;
+    public int lineId;
+    public int startSiteId;
+    public int endSiteId;
+    public List<Result> points;
+
+    public static class Result {
+          public Double latitude;
+          public Double longitude;
+    }
+
+    public BusRoutePlanningUpdateReqBean(String sn, int lineId, int startSiteId
+            , int endSiteId, List<Result> points) {
+        this.sn = sn;
+        this.lineId = lineId;
+        this.startSiteId = startSiteId;
+        this.endSiteId = endSiteId;
+        this.points = points;
+    }
+}
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index 5b7e2eca1e..0136688532 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -41,6 +41,7 @@ import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.view.OnPreventFastClickListener;
 import com.mogo.och.bus.R;
 import com.mogo.och.bus.ui.BusTrafficLightView;
+import com.mogo.och.bus.util.BDRouteDataTestUtils;
 import com.mogo.och.bus.view.BusArcView;
 import com.mogo.och.bus.view.SlidePanelView;
 
@@ -198,6 +199,8 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                         debugArrivedStation()
         );
 
+        findViewById(R.id.btnAutopilotRoute).setOnClickListener(view -> debugArrivedRoute());
+
         tvOperationStatus.setOnClickListener(view -> {
             onChangeOperationStatus();
         });
@@ -227,6 +230,10 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         CallerHmiManager.INSTANCE.registerUpgradeTipsCallback(() -> mUpgradeTipIv);
     }
 
+    private void debugArrivedRoute() {
+        BDRouteDataTestUtils.converToRouteData();
+    }
+
     @Override
     public void onDestroyView() {
         super.onDestroyView();
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLineModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusLineModel.java
similarity index 98%
rename from OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLineModel.java
rename to OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusLineModel.java
index 84f715c78e..e38ed03522 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLineModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusLineModel.java
@@ -1,4 +1,4 @@
-package com.mogo.och.bus.presenter;
+package com.mogo.och.bus.model;
 
 import android.content.Context;
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
similarity index 92%
rename from OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusOrderModel.java
rename to OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index ded7d29d63..397415d193 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -1,4 +1,4 @@
-package com.mogo.och.bus.presenter;
+package com.mogo.och.bus.model;
 
 import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
 import static com.mogo.och.bus.constant.BusConst.STATION_STATUS_STOPPED;
@@ -9,15 +9,19 @@ import android.os.Handler;
 import android.os.Message;
 import android.text.TextUtils;
 
+import androidx.annotation.NonNull;
+
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
@@ -27,6 +31,7 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.och.bus.bean.BusOperationStatusResponse;
 import com.mogo.och.bus.bean.BusOrderBean;
 import com.mogo.och.bus.bean.BusOrdersResponse;
+import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
 import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.BusRoutesResult;
 import com.mogo.och.bus.bean.BusStationBean;
@@ -38,7 +43,9 @@ import com.mogo.och.bus.callback.ISlidePannelHideCallback;
 import com.mogo.och.bus.constant.BusConst;
 import com.mogo.och.bus.net.BusServiceManager;
 import com.mogo.och.bus.net.IBusServiceCallback;
+import com.mogo.och.bus.presenter.BusModelLoopManager;
 import com.mogo.och.bus.util.BusAnalyticsUtil;
+import com.mogo.och.bus.util.CoordinateCalculateRouteUtil;
 import com.mogo.och.bus.util.PinYinUtil;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
@@ -94,6 +101,8 @@ public class BusOrderModel {
     private ISlidePannelHideCallback slidePannelHideCallback;
     private IBusControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
 
+    List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
+
     private boolean hadQueryLeaveAwayPassager = false;
 
     private final Handler handler = new Handler(new Handler.Callback() {
@@ -135,6 +144,9 @@ public class BusOrderModel {
                     .getApis()
                     .getStatusManagerApi()
                     .registerStatusChangedListener( TAG, StatusDescriptor.VR_MODE, mMogoStatusChangedListener );
+
+            //自动驾驶路线规划接口
+            CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
         }
 
         //2022.1.28
@@ -194,6 +206,57 @@ public class BusOrderModel {
         this.mControllerStatusCallback = callback;
     }
 
+    private final IMoGoAutopilotPlanningListener moGoAutopilotPlanningListener = new IMoGoAutopilotPlanningListener() {
+
+        @Override
+        public void onAutopilotTrajectory(@NonNull List<MessagePad.TrajectoryPoint> trajectoryInfos) {
+
+        }
+
+        @Override
+        public void onAutopilotRotting(MessagePad.GlobalPathResp routeList) {
+            if (null != routeList && routeList.getWayPointsList().size() > 0){
+                points.clear();
+                points.addAll(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjList(mContext,routeList.getWayPointsList()));
+                updateOrderRoute();
+            }
+        }
+
+    };
+
+    /**
+     * 上报订单全路径规划数据
+     */
+    public void updateOrderRoute() {
+        if (!isGoingToNextStation || currentStationIndex >= stationList.size() || currentStationIndex-1 < 0 || points.size() == 0){
+            return;
+        }
+
+        BusStationBean currentStation = stationList.get( currentStationIndex -1);
+        BusStationBean nextStation = stationList.get( currentStationIndex);
+
+        BusServiceManager.getInstance().updateOrderRoute(mContext, currentLineId, currentStation.getSiteId()
+                , nextStation.getSiteId(), points, new IBusServiceCallback<BaseData>() {
+                    @Override
+                    public void onSuccess(BaseData o) {
+
+                    }
+
+                    @Override
+                    public void onFail(String failMsg) {
+                        if (isGoingToNextStation){//重试
+                            updateOrderRoute();
+                        }
+                    }
+                });
+    }
+
+    public void debugUpdateOrderRoute(List<MessagePad.Location> list){
+        points.clear();
+        points.addAll(CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjList(mContext,list));
+        updateOrderRoute();
+    }
+
     /**
      * 轮询bus待服务订单
      */
@@ -262,6 +325,9 @@ public class BusOrderModel {
                 .getApis()
                 .getRegisterCenterApi()
                 .unregisterCarLocationChangedListener(TAG, mCarLocationChangedListener2);
+
+        //自动驾驶路线规划接口
+        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
     }
 
     private Object readResolve() {
@@ -563,6 +629,8 @@ public class BusOrderModel {
             public void onFail(String failMsg) {
                 if (!NetworkUtils.isConnected(mContext)) {
                     TipToast.shortTip("网络异常，请稍后重试");
+                }else {
+                    TipToast.shortTip(failMsg);
                 }
             }
         });
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/BusServiceManager.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/BusServiceManager.java
index c0b80d394f..5ce01cf7c4 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/BusServiceManager.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/BusServiceManager.java
@@ -11,6 +11,7 @@ import com.mogo.eagle.core.network.RequestOptions;
 import com.mogo.eagle.core.network.SubscribeImpl;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.bean.BusQueryLinesResponse;
+import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
 import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.CarHeartbeatReqBean;
 import com.mogo.och.bus.bean.BusOperationStatusRequest;
@@ -22,7 +23,9 @@ import com.mogo.och.bus.bean.BusUpdateSiteStatusRequest;
 import com.mogo.och.bus.bean.QueryLeaveAwayPassengersRequest;
 import com.mogo.och.bus.bean.QueryLeaveAwayPassengersResponse;
 import com.mogo.och.bus.constant.BusConst;
-import com.mogo.och.bus.presenter.BusOrderModel;
+import com.mogo.och.bus.model.BusOrderModel;
+
+import java.util.List;
 
 import io.reactivex.android.schedulers.AndroidSchedulers;
 import io.reactivex.schedulers.Schedulers;
@@ -192,6 +195,18 @@ public class BusServiceManager {
                 .subscribe(getSubscribeImpl(context,callback,"queryBusLines"));
     }
 
+    public void updateOrderRoute(Context context,int lineId, int startSiteId, int endSiteId
+            , List< BusRoutePlanningUpdateReqBean.Result > points
+            , IBusServiceCallback<BaseData> callback){
+        mService.updateOrderRoute(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
+                ,MoGoAiCloudClientConfig.getInstance().getToken()
+                ,new BusRoutePlanningUpdateReqBean(MoGoAiCloudClientConfig.getInstance().getSn()
+                        ,lineId,startSiteId,endSiteId, points))
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(getSubscribeImpl(context,callback,"updateOrderRoute"));
+    }
+
     /**
      * 车机端上传心跳数据（只在出车状态时上传）：包含高德坐标系经纬度
      * @param context
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/IBusApiService.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/IBusApiService.java
index 31a4af6df5..5b7b8603eb 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/IBusApiService.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/net/IBusApiService.java
@@ -3,6 +3,7 @@ import com.mogo.eagle.core.data.BaseData;
 import com.mogo.och.bus.bean.BusOperationStatusRequest;
 import com.mogo.och.bus.bean.BusOrdersResponse;
 import com.mogo.och.bus.bean.BusQueryLinesResponse;
+import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
 import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.CarHeartbeatReqBean;
 import com.mogo.och.bus.bean.BusQueryLineStationsRequest;
@@ -145,5 +146,10 @@ public interface IBusApiService {
 //    @GET("/autopilot-car-hailing/line/v2/driver/bindLine/query")
     @GET("/autopilot-car-hailing/line/v2/driver/bus/bindLine/query")
     Observable<BusQueryLinesResponse> queryBusLines(@Header ("appId") String appId, @Header("ticket") String ticket, @Query("sn") String sn);
+
+    @Headers( {"Content-type:application/json;charset=UTF-8"} )
+//    @POST( "/autopilot-car-hailing/location/v2/driver/heartbeat" )
+    @POST( "/autopilot-car-hailing/location/v2/driver/bus/heartbeat" )
+    Observable<BaseData> updateOrderRoute(@Header ("appId") String appId, @Header("ticket") String ticket, @Body BusRoutePlanningUpdateReqBean data);
 }
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
index 04bf358f4e..dd0b333e67 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
@@ -9,6 +9,8 @@ import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.bean.BusQueryLinesResponse;
 import com.mogo.och.bus.callback.IBusLinesCallback;
+import com.mogo.och.bus.model.BusLineModel;
+import com.mogo.och.bus.model.BusOrderModel;
 import com.mogo.och.bus.ui.BusSwitchLineView;
 
 /**
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusModelLoopManager.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusModelLoopManager.java
index 73127227d9..b431946ae0 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusModelLoopManager.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusModelLoopManager.java
@@ -4,6 +4,7 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
 
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.och.bus.constant.BusConst;
+import com.mogo.och.bus.model.BusOrderModel;
 
 import java.util.concurrent.TimeUnit;
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index 8c2f855e50..bb714c0939 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -21,6 +21,7 @@ import com.mogo.och.bus.callback.IBusControllerStatusCallback;
 import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
 import com.mogo.och.bus.callback.ISlidePannelHideCallback;
 import com.mogo.och.bus.fragment.BusFragment;
+import com.mogo.och.bus.model.BusOrderModel;
 
 import org.jetbrains.annotations.NotNull;
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java
new file mode 100644
index 0000000000..76d61a56cf
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BDRouteDataTestUtils.java
@@ -0,0 +1,45 @@
+package com.mogo.och.bus.util;
+
+import com.mogo.och.bus.model.BusOrderModel;
+
+import org.json.JSONArray;
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import mogo.telematics.pad.MessagePad;
+
+/**
+ * @author: wangmingjun
+ * @date: 2022/4/13
+ */
+public class BDRouteDataTestUtils {
+
+    static String jsonStr ="{\n" +
+            "    \"models\": [\n" +
+            "        {\n" +
+            "            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+            "        }\n" +
+            "    ]\n" +
+            "}";
+    public static void converToRouteData(){
+        List<MessagePad.Location> list = new ArrayList<>();
+
+        try {
+            JSONObject jsonObject = new JSONObject(jsonStr);
+            JSONArray jsonElements = jsonObject.getJSONArray("models");
+            for (int i = 0; i < jsonElements.length(); i++) {
+                JSONObject s = jsonElements.getJSONObject(i);
+                MessagePad.Location.Builder builder = MessagePad.Location.newBuilder();
+                builder.setLatitude(s.getDouble("lat"));
+                builder.setLongitude(s.getDouble("lon"));
+                list.add(builder.build());
+            }
+            BusOrderModel.getInstance().debugUpdateOrderRoute(list);
+        } catch (JSONException e) {
+            e.printStackTrace();
+        }
+    }
+}
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/CoordinateCalculateRouteUtil.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/CoordinateCalculateRouteUtil.java
new file mode 100644
index 0000000000..e26185684d
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/CoordinateCalculateRouteUtil.java
@@ -0,0 +1,177 @@
+package com.mogo.och.bus.util;
+
+import android.content.Context;
+
+import com.amap.api.maps.CoordinateConverter;
+import com.amap.api.maps.model.LatLng;
+import com.mogo.cloud.commons.utils.CoordinateUtils;
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.och.bus.bean.BusRoutePlanningUpdateReqBean;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import mogo.telematics.pad.MessagePad;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+
+/**
+ * @author: wangmingjun
+ * @date: 2022/3/28
+ */
+public class CoordinateCalculateRouteUtil {
+
+    public static float calculateRouteSumLength(List<LatLng> points){
+        if (null == points || points.size() == 0) return 0;
+
+        float sumLength = 0;
+
+        //计算全路径总距离
+        for (int i = 0;i + 1< points.size();i++){
+            double preLat = points.get(i).latitude;
+            double preLon = points.get(i).longitude;
+            double laLat  = points.get(i+1).latitude;
+            double laLon = points.get(i+1).longitude;
+
+            float length = CoordinateUtils.calculateLineDistance(laLon,laLat,preLon,preLat);
+            sumLength += length;
+        }
+        return sumLength;
+    }
+
+    public static List<LatLng> coordinateConverterWgsToGcjListCommon(Context mContext, List<MessagePad.Location> models) {
+        //转成MogoLatLng集合
+        List<LatLng> list = new ArrayList<>();
+        for (MessagePad.Location m : models) {
+            LatLng mogoLatLng = coordinateConverterWgsToGcj(mContext, m);
+            list.add(mogoLatLng);
+        }
+        return list;
+    }
+
+    public static LatLng coordinateConverterWgsToGcj(Context mContext, MessagePad.Location mogoLatLng) {
+        CoordinateConverter mCoordinateConverter = new CoordinateConverter(mContext);
+        mCoordinateConverter.from(CoordinateConverter.CoordType.GPS);
+        mCoordinateConverter.coord(new LatLng(mogoLatLng.getLatitude(), mogoLatLng.getLongitude()));
+        LatLng latLng = mCoordinateConverter.convert();
+        return latLng;
+    }
+
+
+    public static List<BusRoutePlanningUpdateReqBean.Result> coordinateConverterWgsToGcjList(Context mContext, List<MessagePad.Location> mogoLatLngList) {
+        List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();
+        for (MessagePad.Location m : mogoLatLngList) {
+            LatLng mogoLatLng = CoordinateCalculateRouteUtil.coordinateConverterWgsToGcj(mContext, m);
+            BusRoutePlanningUpdateReqBean.Result result = new BusRoutePlanningUpdateReqBean.Result();
+            result.latitude = mogoLatLng.latitude;
+            result.longitude = mogoLatLng.longitude;
+            points.add(result);
+        }
+        return points;
+    }
+
+    /**
+     * 根据实时定位的坐标确定出已行驶到那个坐标点 todo 有问题 暂不使用
+     * @param mRoutePoints
+     * @param realLon
+     * @param realLat
+     * @return 返回剩余路径集合
+     */
+    @Deprecated
+    public static List<LatLng> getCurrentPoinByCompare(List<LatLng> mRoutePoints, double realLon, double realLat) {
+        // 疑似坐标 先以坐标中间1/2为第一个比对点
+        int currentIndex  = Math.round(mRoutePoints.size()/2);
+        LatLng currentLatLng = mRoutePoints.get(currentIndex);
+
+        //差值初始化
+        float baseDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat
+                ,currentLatLng.longitude,currentLatLng.latitude);// lon,lat, prelon, prelat
+
+        List<LatLng> latePoints = new ArrayList<>();
+        //与选中点左右比较
+        if (currentIndex -1 >= 0 && currentIndex+1<= mRoutePoints.size()-1){
+            LatLng leftCurrentLatLng = mRoutePoints.get(currentIndex -1);
+            LatLng rightCurentLatLng = mRoutePoints.get(currentIndex + 1);
+            float leftDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat
+                    ,leftCurrentLatLng.longitude,leftCurrentLatLng.latitude);
+            float rightDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat,rightCurentLatLng.longitude,rightCurentLatLng.latitude);
+
+            if (rightDiffDis < leftDiffDis){ //靠近了右半边
+                baseDiffDis = rightDiffDis;
+                for (int i = currentIndex +1; i+1 <mRoutePoints.size() ;i++){
+                    float diff = CoordinateUtils.calculateLineDistance(realLon,realLat
+                            ,mRoutePoints.get(i).longitude,mRoutePoints.get(i).latitude);
+                    Logger.d(M_BUS + "Compare右半边集合", "点："+i+"------------baseDiffDis = "+baseDiffDis+"---diff="+diff);
+                    if (baseDiffDis >= diff){
+                        baseDiffDis = diff;
+                        currentIndex = i;
+                        if (i == mRoutePoints.size()-1){
+                            latePoints.addAll(mRoutePoints);
+                        }
+                    }else {
+                        latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
+                        return latePoints;
+                    }
+                }
+            }else if (rightDiffDis > leftDiffDis){ //靠近左半边
+                baseDiffDis = leftDiffDis;
+                for (int j = currentIndex-1; j -1 >=0 ;j++){
+                    float diff = CoordinateUtils.calculateLineDistance(realLon,realLat,mRoutePoints.get(j).longitude,mRoutePoints.get(j).latitude);
+                    Logger.d(M_BUS + "Compare左半边集合", "点："+j+"------------baseDiffDis = "+baseDiffDis+"---diff="+diff);
+                    if (baseDiffDis >= diff){
+                        baseDiffDis = diff;
+                        currentIndex = j;
+                        if (j == 0){
+                            latePoints.addAll(mRoutePoints);
+                        }
+                    }else {
+                        latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
+                        return latePoints;
+                    }
+                }
+            }else {
+                Logger.d(M_BUS + "正好相等", "点："+currentIndex+"------------baseDiffDis = "+baseDiffDis+"---diff="+leftDiffDis);
+                latePoints.addAll(mRoutePoints.subList(currentIndex,currentIndex));
+                return latePoints;
+            }
+        }
+            return latePoints;
+    }
+
+    /**
+     * 简单粗暴 直接比较 todo 需要优化
+     * @param mRoutePoints
+     * @param realLon
+     * @param realLat
+     * @return
+     */
+    public static List<LatLng> getRemainPointListByCompare(List<LatLng> mRoutePoints,double realLon,double realLat) {
+        List<LatLng> latePoints = new ArrayList<>();
+        int currentIndex = 0; //记录疑似点
+        if (mRoutePoints.size() > 0){
+            //基础点
+            LatLng baseLatLng = mRoutePoints.get(0);
+            float baseDiffDis = CoordinateUtils.calculateLineDistance(realLon,realLat
+                    ,baseLatLng.longitude,baseLatLng.latitude);// lon,lat, prelon, prelat
+
+            for (int i= 1; i < mRoutePoints.size(); i++){
+                LatLng latLng = mRoutePoints.get(i);
+                float diff = CoordinateUtils.calculateLineDistance(realLon,realLat
+                        ,latLng.longitude,latLng.latitude);
+                if (baseDiffDis > diff){
+//                    Logger.d(M_TAXI + "calculateRouteSumLength", "点："+i+"-------先记录点----- ");
+                    baseDiffDis = diff;
+                    currentIndex = i;
+                }
+            }
+            Logger.d(M_BUS + "calculateRouteSumLength", "点："+currentIndex+"-------是最近的点------ ");
+            if (currentIndex == mRoutePoints.size()-1){
+                latePoints.add(mRoutePoints.get(currentIndex));
+            }else {
+                latePoints.addAll(mRoutePoints.subList(currentIndex,mRoutePoints.size()-1));
+            }
+            return latePoints;
+        }
+        return latePoints;
+    }
+}
diff --git a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
index 8bf210c856..77d35e6207 100644
--- a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
@@ -222,13 +222,23 @@
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />
+    <Button
+        android:id="@+id/btnAutopilotRoute"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:background="#023D35"
+        android:text="上传全路径"
+        android:textSize="30sp"
+        app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
+        app:layout_constraintTop_toBottomOf="@id/btnAutopilotArrive" />
 
     <androidx.constraintlayout.widget.Group
         android:id="@+id/groupTestPanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:visibility="gone"
-        app:constraint_referenced_ids="btnAutopilotArrive,btnAutopilotDisable,btnAutopilotEnable,btnAutopilotRunning"
+        app:constraint_referenced_ids="btnAutopilotArrive,btnAutopilotDisable,btnAutopilotEnable
+        ,btnAutopilotRunning,btnAutopilotRoute"
         tools:visibility="visible" />
 
 <!--    <com.mogo.och.bus.ui.BusTrafficLightView-->
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
index 9a9fb4728d..2984881937 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/IdentifyDataDrawer.java
@@ -88,7 +88,6 @@ public class IdentifyDataDrawer {
             return;
         }
 
-        long start = System.currentTimeMillis();
         //清除缓存
         for (MessagePad.TrackedObject data : resultList) {
             if (trafficDataUuidList.size() > 0 && trafficDataUuidList.contains("" + data.getUuid())) {
@@ -100,18 +99,13 @@ public class IdentifyDataDrawer {
             algoCache.remove(uuid);
         });
 
-        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "origin data size : " + resultList.size());
         ArrayList<MessagePad.TrackedObject> filterList = filterTrafficData(resultList);
 
-        long cost = System.currentTimeMillis() - start;
-        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "cost : " + cost);
-
         if (filterList.size() > 0) {
             // 绘制新数据
             MogoMarkerManager.getInstance(mContext)
                     .updateBatchMarkerPosition(filterList);
         }
-        CallerLogger.INSTANCE.d(M_HMI + "arrow48", "mMarkersCaches : " + mMarkersCaches.size());
     }
 
     /**
@@ -158,9 +152,11 @@ public class IdentifyDataDrawer {
             assert cacheTrackObj != null;
             if (data.getSpeed() >= 1.5) {
                 double heading = MogoMap.getInstance().getMogoMap().getUIController().getAngle(cacheTrackObj.getLongitude(), cacheTrackObj.getLatitude(), lonLat[0], lonLat[1]);
-                double correct = Math.abs(heading - data.getHeading()) > 30 && Math.abs(heading - data.getHeading()) < 120 ? heading : data.getHeading();//todo test
-                CallerLogger.INSTANCE.d(M_HMI + "type : " + data.getType(), " uuid : " + uuid + " , origin H : " + data.getHeading() + " , cal H : " + heading + ", correct : " + correct + " , 使用滤波角度 : " + (Math.abs(heading - data.getHeading()) > 30 && Math.abs(heading - data.getHeading()) < 120));
-                return data.toBuilder().setHeading(heading).setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
+                double correct = Math.abs(heading - data.getHeading()) > 30 && Math.abs(heading - data.getHeading()) < 120 ? heading : data.getHeading();//todo test, 需要对每个uuid做航向角缓存
+                if (data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_TA_CHE.getType() || data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_BUS.getType() || data.getType() == TrafficTypeEnum.TYPE_TRAFFIC_ID_TRUCK.getType()) {
+                    CallerLogger.INSTANCE.d(M_HMI + "type : " + data.getType(), " uuid : " + uuid + " , origin H : " + data.getHeading() + " , cal H : " + heading + ", correct : " + correct + " , 使用滤波角度 : " + (Math.abs(heading - data.getHeading()) > 30 && Math.abs(heading - data.getHeading()) < 120));
+                }
+                return data.toBuilder().setHeading(correct).setLongitude(lonLat[0]).setLatitude(lonLat[1]).build();
             } else {
                 return data;
             }
@@ -169,7 +165,7 @@ public class IdentifyDataDrawer {
             if (AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficBus || AdasRecognizedType.valueFrom(data.getType()) == AdasRecognizedType.classIdTrafficTruck) {
                 r = 0.00001;
             }
-            algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), r));
+            algoCache.put(uuid, new KalmanFilter(data.getLongitude(), data.getLatitude(), data.getHeading(), r));
             return data;
         }
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/KalmanFilter.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/KalmanFilter.java
index 08605437fa..08c2408a39 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/KalmanFilter.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/KalmanFilter.java
@@ -10,14 +10,17 @@ public class KalmanFilter {
     double[][] k = new double[][]{{0.0D, 0.0D}, {0.0D, 0.0D}};
     int idx = 1;
 
-    public KalmanFilter(double lon, double lat, double r) {
+    double cacheHeading;
+
+    public KalmanFilter(double lon, double lat, double originHeading, double r) {
         this.xhat[0][0] = lon;
         this.xhat[0][1] = lat;
         this.r = r;
+        this.cacheHeading = originHeading;
     }
 
     public double[] filter(double lon, double lat) {
-        for(int i = 0; i < 2; ++i) {
+        for (int i = 0; i < 2; ++i) {
             this.xhatminus[this.idx][i] = this.xhat[1 - this.idx][i];
             this.pMinus[this.idx][i] = this.p[1 - this.idx][i] + 1.0E-6D;
             this.k[this.idx][i] = this.pMinus[this.idx][i] / (this.pMinus[this.idx][i] + this.r);
@@ -31,4 +34,5 @@ public class KalmanFilter {
         this.idx = 1 - this.idx;
         return new double[]{lon1, lat1};
     }
+
 }