diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index fc34e3643c..5401c0a2cf 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -205,7 +205,7 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
 //        apmEnvProvider.init(if(DebugConfig.isDebug()) "0" else "1", "${ DebugConfig.getNetMode() }", mDockerVersion ?: "")
         BadCaseManager.init(mContext!!)
         ColdStartManager.init(mContext!!)
-//        OTAUpgradeManager.init(mContext!!)
+        OTAUpgradeManager.init(mContext!!)
         if (DebugConfig.isDebug()) {
             SdtManager.init(mContext!!, true, DetectResultImpl())
         }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
index 9962aa08aa..9cb2badf9e 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/BadCaseManager.kt
@@ -156,6 +156,10 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
             BadCaseConfig.setStartTime(currentDay)
             //删除前一天的接管记录
             CallerTakeOverManager.deleteAllRecord(context)
+            //遍历是否有非当日的文件并删除
+            RecordBitmapUtils.deleteExpiredFile(currentDay,"FrontCamera")
+            RecordBitmapUtils.deleteExpiredFile(currentDay,"RearCamera")
+            RecordBitmapUtils.deleteExpiredFile(currentDay,"MapScreen")
         }
     }
 
@@ -417,7 +421,6 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
     override fun onAutopilotRecordResult(recordPanel: RecordPanelOuterClass.RecordPanel) {
         super.onAutopilotRecordResult(recordPanel)
         CallerLogger.d("$M_DEVA$TAG", "recordKey=${recordPanel.key},stat=${recordPanel.stat},type=${recordPanel.type}")
-        CallerLogger.i(TestTag,"onAutopilotRecordResult receive recordKey=${recordPanel.key},stat=${recordPanel.stat},type=${recordPanel.type},lineName=${BadCaseConfig.lineName}")
         if(BadCaseConfig.notDisplayBagWindow){
             //此时点击主动录包按钮，不能展示上报弹窗，需要在此处做主动录包弹窗中的一些逻辑
             //开始录制
@@ -441,22 +444,18 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
                 CallerLogger.i(TestTag,"onAutopilotRecordResult contains recordKey=${recordPanel.key},stat=${recordPanel.stat},type=${recordPanel.type},lineName=${BadCaseConfig.lineName}")
                 //目前type == 3包括接管被动录包和其他一些故障录包
                 if(recordPanel.type == 3){
-                    CallerLogger.i(TestTag,"onAutopilotRecordResult 符合type=3 recordKey=${recordPanel.key},stat=${recordPanel.stat},type=${recordPanel.type},lineName=${BadCaseConfig.lineName}")
                     //录包成功
                     if(recordPanel.stat == 100 || recordPanel.stat == 101){
-                        CallerLogger.i(TestTag,"onAutopilotRecordResult 录包成功 recordKey=${recordPanel.key},stat=${recordPanel.stat},type=${recordPanel.type},lineName=${BadCaseConfig.lineName}")
                         val activity = AppStateManager.currentActivity()
                         if (activity !is AppCompatActivity) {
                             return
                         }
-                        CallerLogger.i(TestTag,"activity符合条件")
                         val geocodeSearch = GeocodeSearch(activity)
                         geocodeSearch.setOnGeocodeSearchListener(object: GeocodeSearch.OnGeocodeSearchListener {
                             override fun onRegeocodeSearched(regeocodeResult: RegeocodeResult?, p1: Int) {
                                 regeocodeResult?.regeocodeAddress?.formatAddress?.let {
                                     address = it
                                 }
-                                CallerLogger.i(TestTag,"onRegeocodeSearched address=${address}")
                                 val takeOverRecordInfo = TakeOverRecordInfo(System.currentTimeMillis(),
                                     address,level1Id,level2Id,level3Id,
                                     level1Name, level2Name, level3Name,
@@ -477,12 +476,12 @@ internal object BadCaseManager : LifecycleEventObserver, IMoGoAutopilotRecordLis
                         val q = RegeocodeQuery(latLon,200f,GeocodeSearch.AMAP)
                         geocodeSearch.getFromLocationAsyn(q)
                         takeOverBagId = recordPanel.key
-//                            //触发域控前后120度摄像头截图和高精地图截图
-//                            CallerAutoPilotControlManager.sendCaptureImgReqOnTakeOver(recordPanel.key)
-//                            //高精地图屏幕截图
-//                            CallerMapScreenListenerManager.addListener(TAG,this)
-//                            //开启高精地图截图
-//                            CallerMapUIServiceManager.getMapUIController()?.getMapScreenShot()
+                        //触发域控前后120度摄像头截图和高精地图截图
+                        CallerAutoPilotControlManager.sendCaptureImgReqOnTakeOver(recordPanel.key)
+                        //高精地图屏幕截图
+                        CallerMapScreenListenerManager.addListener(TAG,this)
+                        //开启高精地图截图
+                        CallerMapUIServiceManager.getMapUIController()?.getMapScreenShot()
                     }
                 }
             }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/util/RecordBitmapUtils.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/util/RecordBitmapUtils.kt
index b65884d61d..a4864f5089 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/util/RecordBitmapUtils.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/badcase/util/RecordBitmapUtils.kt
@@ -36,9 +36,11 @@ object RecordBitmapUtils {
 
     /**
      * 删除过期文件夹
+     * @param currentDay 要删除的文件日期
+     * @param deleteFile 要删除的文件目录
      */
-    fun deleteExpiredFile(currentDay: String){
-        val checkFileName = Environment.getExternalStorageDirectory().absolutePath + File.separator+ "MapScreen"
+    fun deleteExpiredFile(currentDay: String,deleteFile: String){
+        val checkFileName = Environment.getExternalStorageDirectory().absolutePath + File.separator+ deleteFile
         val checkFileFolder = File(checkFileName)
         if(checkFileFolder.exists()){
             checkFileFolder.listFiles()?.forEach {dir->
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
index c57fd8122b..d0dea26197 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverReasonWindow.kt
@@ -3,7 +3,9 @@ package com.zhjt.mogo_core_function_devatools.workorder
 import android.annotation.SuppressLint
 import android.app.Activity
 import android.graphics.PixelFormat
+import android.net.Uri
 import android.os.Bundle
+import android.os.Environment
 import android.text.Editable
 import android.text.TextWatcher
 import android.util.DisplayMetrics
@@ -41,13 +43,15 @@ import com.mogo.eagle.core.utilcode.util.BarUtils
 import com.mogo.eagle.core.utilcode.util.JsonParser
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils.getMdFormat
 import com.mogo.eagle.core.utilcode.util.TimeUtils.millis2String
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.tts.base.SpeechUtils
 import com.zhjt.mogo_core_function_devatools.R
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
 import com.zhjt.mogo_core_function_devatools.workorder.adapter.OrderReasonAdapter
-import kotlin.math.absoluteValue
+import java.io.File
+
 
 /**
  * 接管原因编辑窗口
@@ -63,11 +67,7 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
     private var mWindowParams: WindowManager.LayoutParams? = null
     private var mWindowManager: WindowManager? = null
     private lateinit var mFloatLayout: View
-
-    private var mInViewX = 0f
-    private var mInViewY = 0f
-    private var mInScreenX = 0f
-    private var mInScreenY = 0f
+    private var takeOverSceneWindow: TakeOverSceneWindow ?= null
 
     // 语音听写对象
     private var mIat: SpeechRecognizer? = null
@@ -84,6 +84,9 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
     private lateinit var tvTakeOverReason: AppCompatTextView
     private lateinit var etNoteInput: AppCompatEditText
     private lateinit var ivNoteAudio: ImageView
+    private lateinit var ivFrontCamera: ImageView
+    private lateinit var ivRearCamera: ImageView
+    private lateinit var ivMapScreen: ImageView
     private lateinit var tvTakeOverSave: TextView
     private lateinit var tvTakeOverCancel: TextView
     private lateinit var rvTakeOverList: RecyclerView
@@ -132,7 +135,7 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
             it.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL
             it.gravity = Gravity.START or Gravity.TOP
             it.width = 902
-            it.height = 1530
+            it.height = 1535
             it.alpha = 1.0f
         }
     }
@@ -143,6 +146,9 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
         tvTakeOverReason = mFloatLayout.findViewById(R.id.tvTakeOverReason)
         etNoteInput = mFloatLayout.findViewById(R.id.etNoteInput)
         ivNoteAudio = mFloatLayout.findViewById(R.id.ivNoteAudio)
+        ivFrontCamera = mFloatLayout.findViewById(R.id.ivFrontCamera)
+        ivRearCamera = mFloatLayout.findViewById(R.id.ivRearCamera)
+        ivMapScreen = mFloatLayout.findViewById(R.id.ivMapScreen)
         tvTakeOverSave = mFloatLayout.findViewById(R.id.tvTakeOverSave)
         tvTakeOverCancel = mFloatLayout.findViewById(R.id.tvTakeOverCancel)
         rvTakeOverList = mFloatLayout.findViewById(R.id.rvTakeOverList)
@@ -316,6 +322,13 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
         }
     }
 
+    private fun showSceneWindow(frontCameraUri: Uri,rearCameraUri: Uri,mapScreenUri: Uri,currentItem: Int){
+        if(takeOverSceneWindow == null){
+            takeOverSceneWindow = TakeOverSceneWindow(mActivity)
+        }
+        takeOverSceneWindow?.showFloatWindow(frontCameraUri,rearCameraUri,mapScreenUri,currentItem)
+    }
+
     private fun setAudio(status: Boolean){
         if(status){
             //开始录音
@@ -417,25 +430,6 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
 
     @SuppressLint("ClickableViewAccessibility")
     override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
-//        when (motionEvent?.action) {
-//            MotionEvent.ACTION_DOWN -> {
-//                // 获取相对View的坐标，即以此View左上角为原点
-//                mInViewX = motionEvent.x
-//                mInViewY = motionEvent.y
-//                // 获取相对屏幕的坐标，即以屏幕左上角为原点
-//                mInScreenX = motionEvent.rawX
-//                mInScreenY = motionEvent.rawY
-//            }
-//            MotionEvent.ACTION_MOVE -> {
-//                // 更新浮动窗口位置参数
-//                mInScreenX = motionEvent.rawX
-//                mInScreenY = motionEvent.rawY
-//                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
-//                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
-//                // 手指移动的时候更新小悬浮窗的位置
-//                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
-//            }
-//        }
         return true
     }
 
@@ -457,6 +451,40 @@ class TakeOverReasonWindow constructor(activity: Activity) : View.OnTouchListene
             tvTakeOverTime.text = mActivity.resources.getString(R.string.take_over_time) +
                     millis2String(mTakeOverRecordInfo.faultStartTime, TimeUtils.getHourMinSecondFormat())
         }
+        //展示前向摄像头
+        val frontCameraPath: String = ((Environment.getExternalStorageDirectory()
+            .absolutePath + File.separator) +
+                "FrontCamera" + File.separator + millis2String(System.currentTimeMillis(), getMdFormat())
+                + File.separator + mTakeOverRecordInfo.bagId) + ".png"
+        val frontCameraUri = Uri.parse(frontCameraPath)
+        ivFrontCamera.setImageURI(frontCameraUri)
+        //展示后向摄像头
+        val rearCameraPath: String = ((Environment.getExternalStorageDirectory()
+            .absolutePath + File.separator) +
+                "RearCamera" + File.separator + millis2String(System.currentTimeMillis(), getMdFormat())
+                + File.separator + mTakeOverRecordInfo.bagId) + ".png"
+        val rearCameraUri = Uri.parse(rearCameraPath)
+        ivRearCamera.setImageURI(rearCameraUri)
+        //展示高精地图截图
+        val mapScreenPath: String = ((Environment.getExternalStorageDirectory()
+            .absolutePath + File.separator) +
+                "MapScreen" + File.separator + millis2String(System.currentTimeMillis(), getMdFormat())
+                + File.separator + mTakeOverRecordInfo.bagId) + ".png"
+        val mapScreenUri = Uri.parse(mapScreenPath)
+        ivMapScreen.setImageURI(mapScreenUri)
+
+        //前向120°摄像头
+        ivFrontCamera.setOnClickListener {
+            showSceneWindow(frontCameraUri,rearCameraUri,mapScreenUri,0)
+        }
+        //后向120°摄像头
+        ivRearCamera.setOnClickListener {
+            showSceneWindow(frontCameraUri,rearCameraUri,mapScreenUri,1)
+        }
+        //高精地图截图
+        ivMapScreen.setOnClickListener {
+            showSceneWindow(frontCameraUri,rearCameraUri,mapScreenUri,2)
+        }
         setWindowShowStatus(true)
     }
 
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverSceneWindow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverSceneWindow.kt
new file mode 100644
index 0000000000..b4430a1172
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/TakeOverSceneWindow.kt
@@ -0,0 +1,113 @@
+package com.zhjt.mogo_core_function_devatools.workorder
+
+import android.annotation.SuppressLint
+import android.app.Activity
+import android.graphics.PixelFormat
+import android.net.Uri
+import android.util.DisplayMetrics
+import android.view.Gravity
+import android.view.LayoutInflater
+import android.view.View
+import android.view.WindowManager
+import android.widget.ImageView
+import androidx.viewpager.widget.ViewPager
+import com.mogo.eagle.core.utilcode.util.BarUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.zhjt.mogo_core_function_devatools.R
+import com.zhjt.mogo_core_function_devatools.workorder.adapter.TakeOverSceneAdapter
+
+/**
+ * 场景图像查看窗口
+ */
+class TakeOverSceneWindow constructor(activity: Activity) {
+
+    companion object{
+        const val TAG = "TakeOverSceneWindow"
+    }
+
+    private var mActivity: Activity = activity
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+    private lateinit var mFloatLayout: View
+    private lateinit var vpSceneImage: ViewPager
+    private lateinit var ivSceneClose: ImageView
+    private lateinit var ivScenePrevious: ImageView
+    private lateinit var ivSceneNext: ImageView
+    private val takeOverSceneAdapter = TakeOverSceneAdapter()
+    private var currentIndex = 0
+
+    init {
+        initFloatWindow()
+    }
+
+    private fun initFloatWindow(){
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_take_over_scene, null) as View
+        initView()
+        initEvent()
+        mWindowParams = WindowManager.LayoutParams()
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_FOCUSABLE
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = WindowManager.LayoutParams.MATCH_PARENT
+            it.height = 1535
+            it.alpha = 1.0f
+        }
+    }
+
+    private fun initView(){
+        vpSceneImage = mFloatLayout.findViewById(R.id.vpSceneImage)
+        ivSceneClose = mFloatLayout.findViewById(R.id.ivSceneClose)
+        ivScenePrevious = mFloatLayout.findViewById(R.id.ivScenePrevious)
+        ivSceneNext = mFloatLayout.findViewById(R.id.ivSceneNext)
+    }
+
+    private fun initEvent(){
+        vpSceneImage.adapter =takeOverSceneAdapter
+        //关闭弹窗
+        ivSceneClose.setOnClickListener {
+            hideFloatWindow()
+        }
+        //前一个场景
+        ivScenePrevious.setOnClickListener {
+            if(currentIndex == 0){
+                ToastUtils.showShort("没有上一个场景了")
+            }else{
+                currentIndex = (currentIndex-1).coerceAtLeast(0)
+                vpSceneImage.currentItem = currentIndex
+            }
+        }
+        //后一个场景
+        ivSceneNext.setOnClickListener {
+            if(currentIndex < 2){
+                currentIndex = (currentIndex + 1).coerceAtMost(2)
+                vpSceneImage.currentItem = currentIndex
+            }else{
+                ToastUtils.showShort("没有下一个场景了")
+            }
+        }
+    }
+
+    @SuppressLint("SetTextI18n")
+    fun showFloatWindow(frontCameraUri: Uri, rearCameraUri: Uri, mapScreenUri: Uri, currentItem: Int) {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = 0
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+            takeOverSceneAdapter.setSceneUri(frontCameraUri, rearCameraUri, mapScreenUri)
+            currentIndex = currentItem
+            vpSceneImage.currentItem = currentItem
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null){
+            mWindowManager!!.removeView(mFloatLayout)
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/adapter/TakeOverSceneAdapter.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/adapter/TakeOverSceneAdapter.kt
new file mode 100644
index 0000000000..f02a37b97b
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/workorder/adapter/TakeOverSceneAdapter.kt
@@ -0,0 +1,69 @@
+package com.zhjt.mogo_core_function_devatools.workorder.adapter
+
+import android.net.Uri
+import android.os.Environment
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.ImageView
+import android.widget.TextView
+import androidx.viewpager.widget.PagerAdapter
+import com.mogo.eagle.core.utilcode.util.TimeUtils.getMdFormat
+import com.mogo.eagle.core.utilcode.util.TimeUtils.millis2String
+import com.zhjt.mogo_core_function_devatools.R
+import java.io.File
+
+
+class TakeOverSceneAdapter: PagerAdapter() {
+
+    private lateinit var mFrontCameraUri: Uri
+    private lateinit var mRearCameraUri: Uri
+    private lateinit var mMapScreenUri: Uri
+
+    fun setSceneUri(frontCameraUri: Uri,rearCameraUri: Uri,mapScreenUri: Uri){
+        mFrontCameraUri = frontCameraUri
+        mRearCameraUri = rearCameraUri
+        mMapScreenUri = mapScreenUri
+    }
+
+    // 获取要滑动的控件的数量
+    override fun getCount(): Int {
+        return 3
+    }
+
+    // 来判断显示的是否是同一张图片，这里我们将两个参数相比较返回即可
+    override fun isViewFromObject(view: View, `object`: Any): Boolean {
+        return view == `object`
+    }
+
+    // 当要显示的图片可以进行缓存的时候，会调用这个方法进行显示图片的初始化，
+    // 我们将要显示的ImageView加入到ViewGroup中，然后作为返回值返回即可
+    override fun instantiateItem(container: ViewGroup, position: Int): Any {
+        val inflater =  LayoutInflater.from(container.context)
+        val view = inflater.inflate(R.layout.layout_scene_pager,container,false)
+        val sceneName: TextView = view.findViewById(R.id.tvSceneName)
+        val ivSceneImage: ImageView = view.findViewById(R.id.ivSceneImage)
+        when (position) {
+            0 -> {
+                sceneName.text = container.resources.getString(R.string.take_over_front_camera)
+                ivSceneImage.setImageURI(mFrontCameraUri)
+            }
+            1 -> {
+                sceneName.text = container.resources.getString(R.string.take_over_rear_camera)
+                ivSceneImage.setImageURI(mRearCameraUri)
+            }
+            else -> {
+                sceneName.text = container.resources.getString(R.string.take_over_map_screen)
+                ivSceneImage.setImageURI(mMapScreenUri)
+            }
+        }
+        container.addView(view)
+        return view
+    }
+
+    // PagerAdapter只缓存三张要显示的图片，如果滑动的图片超出了缓存的范围，就会调用这个方法，将图片销毁
+    override fun destroyItem(container: ViewGroup, position: Int, `object`: Any) {
+        container.removeView(`object` as View)
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_close.png b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_close.png
new file mode 100644
index 0000000000..84513b5885
Binary files /dev/null and b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_close.png differ
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_left.png b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_left.png
new file mode 100644
index 0000000000..ad46b155c6
Binary files /dev/null and b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_left.png differ
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_right.png b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_right.png
new file mode 100644
index 0000000000..b9c0a12a09
Binary files /dev/null and b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable-xhdpi/icon_scene_right.png differ
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_scene_name.xml b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_scene_name.xml
new file mode 100644
index 0000000000..dd0222ad49
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/drawable/bg_scene_name.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:startColor="#00000000"
+        android:centerColor="#80000000"
+        android:endColor="#00000000"
+        android:angle="0"
+        android:gradientRadius="@dimen/dp_8"
+        />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_scene_pager.xml b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_scene_pager.xml
new file mode 100644
index 0000000000..d0dc4eebd0
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/layout_scene_pager.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <ImageView
+        android:id="@+id/ivSceneImage"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:contentDescription="@string/take_over_scene_image"
+        android:scaleType="fitXY"
+        />
+
+    <TextView
+        android:id="@+id/tvSceneName"
+        android:layout_width="@dimen/dp_754"
+        android:layout_height="@dimen/dp_98"
+        android:layout_gravity="center_horizontal"
+        android:layout_marginTop="@dimen/dp_64"
+        android:textSize="@dimen/sp_48"
+        android:textColor="@color/white"
+        android:gravity="center"
+        android:background="@drawable/bg_scene_name"
+        />
+
+</FrameLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_reason.xml b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_reason.xml
index 2735fe0efb..70ad990d8d 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_reason.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_reason.xml
@@ -145,6 +145,111 @@
         android:contentDescription="@string/take_over_note_audio"
         />
 
+    <TextView
+        android:id="@+id/tvTakeOverSceneImageTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="@string/take_over_scene_image"
+        android:textSize="@dimen/sp_38"
+        android:textColor="@color/white"
+        app:layout_constraintTop_toBottomOf="@id/etNoteInput"
+        app:layout_constraintLeft_toLeftOf="@id/etNoteInput"
+        android:layout_marginTop="@dimen/dp_36"
+        />
+
+    <ScrollView
+        android:layout_width="@dimen/dp_779"
+        android:layout_height="@dimen/dp_0"
+        app:layout_constraintTop_toBottomOf="@id/tvTakeOverSceneImageTitle"
+        app:layout_constraintLeft_toLeftOf="@id/tvTakeOverSceneImageTitle"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginTop="@dimen/dp_13"
+        >
+
+        <androidx.constraintlayout.widget.ConstraintLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content">
+
+            <ImageView
+                android:id="@+id/ivFrontCamera"
+                android:layout_width="@dimen/dp_779"
+                android:layout_height="@dimen/dp_422"
+                app:layout_constraintTop_toTopOf="parent"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintRight_toRightOf="parent"
+                android:contentDescription="@string/take_over_front_camera"
+                android:scaleType="fitXY"
+                />
+
+            <TextView
+                android:layout_width="@dimen/dp_779"
+                android:layout_height="@dimen/dp_72"
+                app:layout_constraintLeft_toLeftOf="@id/ivFrontCamera"
+                app:layout_constraintRight_toRightOf="@id/ivFrontCamera"
+                app:layout_constraintBottom_toBottomOf="@id/ivFrontCamera"
+                android:background="#66000000"
+                android:text="@string/take_over_front_camera"
+                android:textColor="@color/white"
+                android:textSize="@dimen/sp_30"
+                android:gravity="center"
+                />
+
+            <ImageView
+                android:id="@+id/ivRearCamera"
+                android:layout_width="@dimen/dp_779"
+                android:layout_height="@dimen/dp_422"
+                app:layout_constraintTop_toBottomOf="@id/ivFrontCamera"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintRight_toRightOf="parent"
+                android:contentDescription="@string/take_over_rear_camera"
+                android:layout_marginTop="@dimen/dp_13"
+                android:scaleType="fitXY"
+                />
+
+            <TextView
+                android:layout_width="@dimen/dp_779"
+                android:layout_height="@dimen/dp_72"
+                app:layout_constraintLeft_toLeftOf="@id/ivRearCamera"
+                app:layout_constraintRight_toRightOf="@id/ivRearCamera"
+                app:layout_constraintBottom_toBottomOf="@id/ivRearCamera"
+                android:background="#66000000"
+                android:text="@string/take_over_rear_camera"
+                android:textColor="@color/white"
+                android:textSize="@dimen/sp_30"
+                android:gravity="center"
+                />
+
+            <ImageView
+                android:id="@+id/ivMapScreen"
+                android:layout_width="@dimen/dp_779"
+                android:layout_height="@dimen/dp_422"
+                app:layout_constraintTop_toBottomOf="@id/ivRearCamera"
+                app:layout_constraintBottom_toBottomOf="parent"
+                app:layout_constraintLeft_toLeftOf="parent"
+                app:layout_constraintRight_toRightOf="parent"
+                android:contentDescription="@string/take_over_map_screen"
+                android:layout_marginTop="@dimen/dp_13"
+                android:layout_marginBottom="@dimen/dp_160"
+                android:scaleType="fitXY"
+                />
+
+            <TextView
+                android:layout_width="@dimen/dp_779"
+                android:layout_height="@dimen/dp_72"
+                app:layout_constraintLeft_toLeftOf="@id/ivMapScreen"
+                app:layout_constraintRight_toRightOf="@id/ivMapScreen"
+                app:layout_constraintBottom_toBottomOf="@id/ivMapScreen"
+                android:background="#66000000"
+                android:text="@string/take_over_map_screen"
+                android:textColor="@color/white"
+                android:textSize="@dimen/sp_30"
+                android:gravity="center"
+                />
+
+        </androidx.constraintlayout.widget.ConstraintLayout>
+
+    </ScrollView>
+
     <TextView
         android:id="@+id/tvTakeOverSave"
         android:layout_width="@dimen/dp_380"
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_scene.xml b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_scene.xml
new file mode 100644
index 0000000000..b687b3f5f1
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/layout/view_take_over_scene.xml
@@ -0,0 +1,49 @@
+<?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="match_parent"
+    xmlns:app="http://schemas.android.com/apk/res-auto">
+
+    <androidx.viewpager.widget.ViewPager
+        android:id="@+id/vpSceneImage"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        />
+
+    <ImageView
+        android:id="@+id/ivSceneClose"
+        android:layout_width="@dimen/dp_170"
+        android:layout_height="@dimen/dp_170"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        android:src="@drawable/icon_scene_close"
+        android:contentDescription="@string/take_over_close_scene"
+        android:layout_marginBottom="@dimen/dp_110"
+        />
+
+    <ImageView
+        android:id="@+id/ivScenePrevious"
+        android:layout_width="@dimen/dp_170"
+        android:layout_height="@dimen/dp_170"
+        app:layout_constraintTop_toTopOf="@id/ivSceneClose"
+        app:layout_constraintBottom_toBottomOf="@id/ivSceneClose"
+        app:layout_constraintRight_toLeftOf="@id/ivSceneClose"
+        android:src="@drawable/icon_scene_left"
+        android:layout_marginRight="@dimen/dp_108"
+        android:contentDescription="@string/take_over_previous_scene"
+        />
+
+    <ImageView
+        android:id="@+id/ivSceneNext"
+        android:layout_width="@dimen/dp_170"
+        android:layout_height="@dimen/dp_170"
+        app:layout_constraintTop_toTopOf="@id/ivSceneClose"
+        app:layout_constraintBottom_toBottomOf="@id/ivSceneClose"
+        app:layout_constraintLeft_toRightOf="@id/ivSceneClose"
+        android:src="@drawable/icon_scene_right"
+        android:layout_marginLeft="@dimen/dp_108"
+        android:contentDescription="@string/take_over_next_scene"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/res/values/strings.xml b/core/function-impl/mogo-core-function-devatools/src/main/res/values/strings.xml
index ba13a4df93..42e32d54ed 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-devatools/src/main/res/values/strings.xml
@@ -66,6 +66,13 @@
     <string name="fault_note_supplement">（选填）</string>
     <string name="take_over_note_input">手动输入</string>
     <string name="take_over_note_audio">补充描述语音输入</string>
+    <string name="take_over_scene_image">场景图像</string>
+    <string name="take_over_front_camera">前向120°摄像头</string>
+    <string name="take_over_rear_camera">后向120°摄像头</string>
+    <string name="take_over_map_screen">高精地图截图</string>
+    <string name="take_over_previous_scene">上一个场景</string>
+    <string name="take_over_close_scene">关闭场景</string>
+    <string name="take_over_next_scene">下一个场景</string>
     <string name="fault_report">上报</string>
     <string name="take_over_save">保存</string>
     <string name="take_over_cancel">取消</string>
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
index 551dfe6341..8fa7ff297c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/status/StartAutoPilotStatusView.kt
@@ -18,6 +18,7 @@ import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger
+import com.mogo.eagle.core.utilcode.util.SoundPoolUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
 import com.zhjt.mogo_core_function_devatools.status.entity.AcceleratorStatus
@@ -30,6 +31,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotBeforeLaunc
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.entity.SteerStatus
 import kotlinx.android.synthetic.main.view_start_autopilot_status.view.fSMStatusLayout
+import kotlinx.android.synthetic.main.view_start_autopilot_status.view.ivFsmDemoModeError
 import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_accelerator
 import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_brake
 import kotlinx.android.synthetic.main.view_start_autopilot_status.view.iv_double_flash
@@ -68,7 +70,8 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
     }
 
     private val hasFSM by lazy { AtomicBoolean(true) }
-
+    //是否进行了语音提示（当开启美化模式后，若fsm输出自车处于安全停车状态中提示音提示一次）
+    private var isAlreadyPrompted: Boolean = false
 
     init {
         LayoutInflater.from(context).inflate(R.layout.view_start_autopilot_status, this, true)
@@ -87,9 +90,11 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
         CallerLogger.i(TAG, "changeStatusContainer 切换展示，hasFSM=$hasFSMModule")
         if (hasFSMModule) {
             fSMStatusLayout?.visibility = View.VISIBLE
+            ivFsmDemoModeError?.visibility = View.GONE
             withoutFSMStatusLayout?.visibility = View.GONE
         } else {
             fSMStatusLayout?.visibility = View.GONE
+            ivFsmDemoModeError?.visibility = View.GONE
             withoutFSMStatusLayout?.visibility = View.VISIBLE
         }
     }
@@ -104,11 +109,6 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
         }
         hasFSM.set(newHasFSM)
 
-        if (FunctionBuildConfig.isDemoMode && status.isException()) {
-            // 美化模式下如果是异常的，修改成正常的
-            status.state = FSMStateCode.ExistNormal
-        }
-
         when (status.state) {
             FSMStateCode.UnKnown -> {
                 fSMStatusLayout?.setOnClickListener(null)
@@ -118,6 +118,8 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
                         R.drawable.icon_fsm_status_bg_unknown
                     )
                 )
+                ivFsmDemoModeError?.visibility = View.GONE
+                isAlreadyPrompted = false
             }
 
             FSMStateCode.NotExist -> {
@@ -128,6 +130,8 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
                         R.drawable.icon_fsm_status_bg_unknown
                     )
                 )
+                ivFsmDemoModeError?.visibility = View.GONE
+                isAlreadyPrompted = false
             }
 
             FSMStateCode.ExistNormal -> {
@@ -138,18 +142,41 @@ class StartAutoPilotStatusView @JvmOverloads constructor(
                         R.drawable.icon_fsm_status_bg_normal
                     )
                 )
+                ivFsmDemoModeError?.visibility = View.GONE
+                isAlreadyPrompted = false
             }
 
             FSMStateCode.ExistError -> {
-                fSMStatusLayout?.onClick {
-                   CallerHmiManager.showFSMExceptionStatusWindow(status.descList)
-                }
-                fSMStatusLayout?.setImageDrawable(
-                    ContextCompat.getDrawable(
-                        context,
-                        R.drawable.icon_fsm_status_bg_error
+                if(FunctionBuildConfig.isDemoMode){
+                    fSMStatusLayout?.setOnClickListener(null)
+                    fSMStatusLayout?.setImageDrawable(
+                        ContextCompat.getDrawable(
+                            context,
+                            R.drawable.icon_fsm_status_bg_normal
+                        )
                     )
-                )
+                    ivFsmDemoModeError?.visibility = View.VISIBLE
+                    if(!isAlreadyPrompted){
+                        try {
+                            SoundPoolUtils.getSoundPool().playSoundWithRedId(context,R.raw.weak_net_tips)
+                        }catch (e: Exception){
+                            e.printStackTrace()
+                        }
+                        isAlreadyPrompted = true
+                    }
+                }else{
+                    fSMStatusLayout?.onClick {
+                        CallerHmiManager.showFSMExceptionStatusWindow(status.descList)
+                    }
+                    fSMStatusLayout?.setImageDrawable(
+                        ContextCompat.getDrawable(
+                            context,
+                            R.drawable.icon_fsm_status_bg_error
+                        )
+                    )
+                    ivFsmDemoModeError?.visibility = View.GONE
+                    isAlreadyPrompted = false
+                }
             }
         }
         notifyStatus(status.isException())
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_demo_mode_error.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_demo_mode_error.png
new file mode 100644
index 0000000000..f61e1e87c5
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_fsm_demo_mode_error.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_car_info_tab.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_car_info_tab.xml
index 214df8ce41..5a89b3bff5 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_car_info_tab.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_car_info_tab.xml
@@ -194,7 +194,6 @@
                 app:layout_constraintBottom_toBottomOf="@+id/tvADVersion"
                 app:layout_constraintRight_toRightOf="@+id/tvCarExit"
                 app:layout_constraintTop_toTopOf="@+id/tvADVersion"
-                android:visibility="gone"
                 />
 
             <TextView
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
index 1c4d4d1cb3..d9a2d0d72f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_start_autopilot_status.xml
@@ -15,6 +15,19 @@
         android:visibility="visible"
         tools:visibility="visible"/>
 
+    <ImageView
+        android:id="@+id/ivFsmDemoModeError"
+        android:layout_width="@dimen/dp_30"
+        android:layout_height="@dimen/dp_30"
+        android:src="@drawable/icon_fsm_demo_mode_error"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginStart="@dimen/dp_19"
+        android:layout_marginBottom="@dimen/dp_39"
+        android:contentDescription="@string/fsm_demo_mode_error"
+        android:visibility="gone"
+        />
+
     <LinearLayout
         android:id="@+id/withoutFSMStatusLayout"
         android:layout_width="match_parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
index f13b8d7efb..8fbf618a17 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -267,4 +267,6 @@
     <string name="ota_result_fail_tip">请联系管理员</string>
     <string name="ota_result_close">关闭</string>
 
+    <string name="fsm_demo_mode_error">FSM美化模式状态下异常标识</string>
+
 </resources>
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
index 40c67dccdb..e1e4b54f9a 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
@@ -11,6 +11,22 @@ import perception.FusionTrafficLightOuterClass
  */
 interface IMoGoAutopilotIdentifyListener {
 
+    /**
+     * 判断是否有车龙
+     */
+    fun isLongVehicleQueue(
+        type: Int,
+        polygon: List<MessagePad.Location>?
+    ): Boolean {
+        // 检查 type 是否为 707 表示NED陈数据
+        val isRoadCongested = type == 707
+        // 检查 polygon 是否不为空且个数大于 1
+        val hasEnoughPolygonPoints = (polygon?.size ?: 0) > 1
+        // 同时满足两个条件
+        return isRoadCongested && hasEnoughPolygonPoints
+    }
+
+
     /**
      * 识别交通元素数据发生更新
      *
diff --git a/libraries/mogo-adas-data/src/main/proto/EagleEyeRecommend.proto.back b/libraries/mogo-adas-data/src/main/proto/EagleEyeRecommend.proto.back
new file mode 100644
index 0000000000..571d736032
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/EagleEyeRecommend.proto.back
@@ -0,0 +1,82 @@
+syntax = "proto3";
+package mogo.nde.service.dto.protocol;
+option java_package = "mogo.nde.service.dto.protocol";
+//TODO 仅做备份使用
+// 鹰眼推荐车道
+message AutoSteerInfo {
+  /**
+ * 道路Id
+ */
+  string roadId = 1;
+  /**
+   * 生成时间
+   */
+  int64 systemTime = 2;
+  /**
+   * 具体内容
+   */
+  repeated RecommendInfo recommendInfo = 3;
+}
+
+message RecommendInfo{
+  /**
+ * 车龙id,如果有车龙的话，没有不传
+ */
+  string uuid = 1;
+  /**
+   * 车道号
+   */
+  int32 laneNum = 2;
+  /**
+   * 车龙车辆id集合，若无车龙则为空集合
+   */
+  repeated  string uuids = 3;
+  /**
+   * 车辆轨迹,有车龙有值
+   */
+  repeated  Point2D points = 4;
+  /**
+   * 车道线轨迹，车道中心线与停止线交点
+   */
+  repeated Point2D lanePoints = 5;
+  /**
+   * 车龙长度
+   */
+  double length = 6;
+  /**
+ * 是否是建议车道
+ */
+  bool suggestedLanes = 7;
+
+  /**
+  车道类型
+  直行 201
+  直行或左转 202
+  直行或右转 203
+  直行或掉头 204
+  左转 205
+  左转或掉头 206
+  左弯或向左合流 207
+  右转 208
+  右转或向右合流209
+  左右转弯 210
+  掉头211
+  禁止左转212
+  禁止右转213
+  禁止掉头214
+  直行或左转或右转215
+  直行或掉头或左转216
+  右转或掉头217
+  禁止右转或向右合流218
+   */
+  int32 arrowType = 8;
+}
+
+//2维点
+message Point2D {
+  // 经度
+  double lon = 1;
+  // 维度
+  double lat = 2;
+}
+
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index b64521c2b8..04b716d7df 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -317,7 +317,9 @@ message TrackedObject
     uint32 drawLevel = 12; //危险等级 1 绿,2 黄,3 红
     double driverTime = 13; //驱动感知时间, abandoned
     repeated TrackedSource tracked_source = 14;
-    repeated Location polygon = 15;
+    repeated Location polygon = 15;//当 type == 707 时
+                                   //车龙轨迹对应NED原始PB EagleEyeRecommend.proto中的lanePoints字段（原始PB中那个points和lanePoints区别：points字段里面是车龙上的车辆中心点练起来的线，可能歪歪扭扭的。lanePoints字段里面是车龙所在车道的车道中心线连续，更平滑）
+                                   //此字段 size > 1 时表示有车龙轨迹,有车龙时仅longitude和latitude赋值    size == 1 时表示无车龙
     geometry.Point center = 16;
     AdditionalAttribute add_attribute = 17; //事件类型
     double angle = 18; //相对于自车x轴的角度，左正右负
@@ -326,7 +328,19 @@ message TrackedObject
     string camera_ip = 21; //来源IP
     uint64 detect_start_time = 22; //V2N事件生成UTC时间，单位毫秒
     string v2x_uuid = 23; //V2X目标uuid
-    reserved 24 to 100;
+                          //对应NED原始PB EagleEyeRecommend.proto中的uuid字段
+                          //与NED原始数据稍有不同。NED原石数据无车龙时不传参数；域控融合后的的数据，有车龙是id样式：2b9564b8-1b7f-4533-9c66-b472780c986a   无车龙id样式是数字：1、2、3、4、……
+    string roadId = 24; //V2N车龙道路ID 对应NED原始PB EagleEyeRecommend.proto中的roadId字段
+    int32 laneNum = 25; //V2N车龙彻车道号 对应NED原始PB EagleEyeRecommend.proto中的laneNum字段
+    bool suggestedLanes = 26;  //V2N车龙是否是建议车道 对应NED原始PB EagleEyeRecommend.proto中的suggestedLanes字段
+    int32 arrowType = 27;  //V2N车龙车道类型
+                           //对应NED原始PB EagleEyeRecommend.proto中的arrowType字段
+                           //目前除以下注释里面的值，其他的数字都没有意义
+                           //直行 201；直行或左转 202；直行或右转 203；直行或掉头 204；
+                           //左转 205；左转或掉头 206；左弯或向左合流 207；右转 208；右转或向右合流 209；
+                           //左右转弯 210，掉头 211，禁止左转 212，禁止右转 213，禁止掉头 214，直行或左转或右转 215；
+                           //直行或掉头或左转 216；右转或掉头 217；禁止右转或向右合流 218；
+    reserved 28 to 100;
     string strUuid = 101;//String类型车辆ID
 }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
index 2a2373b769..32275156c4 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ReceivedAckManager.java
@@ -5,13 +5,11 @@ import androidx.annotation.NonNull;
 import com.zhjt.mogo.adas.common.MessageType;
 import com.zhjt.mogo.adas.data.bean.ReceivedAck;
 
-import java.util.ArrayList;
-import java.util.Collections;
 import java.util.Iterator;
-import java.util.List;
 import java.util.Timer;
 import java.util.TimerTask;
-import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.ConcurrentLinkedQueue;
+import java.util.concurrent.atomic.AtomicInteger;
 
 import mogo.telematics.pad.MessagePad;
 
@@ -22,8 +20,8 @@ public class ReceivedAckManager {
     private static final String TAG = ReceivedAckManager.class.getSimpleName();
     private volatile Timer timer;
 
-    private final List<ReceivedAck> list = Collections.synchronizedList(new ArrayList<>());
-    private final AtomicBoolean isSupport = new AtomicBoolean(false);//是否支持回执功能
+    private final ConcurrentLinkedQueue<ReceivedAck> queue = new ConcurrentLinkedQueue<>();
+    private final AtomicInteger isSupport = new AtomicInteger(-1);//是否支持回执功能 -1：未知； 0：不支持；  1：支持；
     private OnReceivedAckListener listener;
 
     public void setListener(OnReceivedAckListener listener) {
@@ -47,10 +45,10 @@ public class ReceivedAckManager {
     }
 
     public void setSupport(int version) {
-        isSupport.set(version >= 30800);
-        CupidLogUtils.log(TAG, version + " 是否支持回执功能=" + isSupport.get());
-        if (!isSupport.get()) {
-            stop();
+        isSupport.set(version >= 30800 ? 1 : 0);
+        CupidLogUtils.log(TAG, version + " 是否支持回执功能=" + (isSupport.get() == 1));
+        if (isSupport.get() != 1) {
+            destroy();
         }
     }
 
@@ -63,11 +61,13 @@ public class ReceivedAckManager {
      * @param sendData
      */
     public void addNeedAckData(long sendTime, long msgId, MessageType messageType, byte[] sendData) {
-        if (isSupport.get()) {
+        if (isSupport.get() == -1 || isSupport.get() == 1) {
+            queue.add(new ReceivedAck(sendTime, msgId, messageType, sendData));
+        }
+        if (isSupport.get() == 1) {
             start();
-            list.add(new ReceivedAck(sendTime, msgId, messageType, sendData));
-        } else {
-            stop();
+        } else if (isSupport.get() == 0) {
+            destroy();
         }
     }
 
@@ -78,8 +78,13 @@ public class ReceivedAckManager {
      * @param receivedAck 回执数据
      */
     public void receiveReceivedAck(long time, MessagePad.ReceivedAck receivedAck) {
+        if (isSupport.get() != 1) {
+            isSupport.set(1);
+            CupidLogUtils.log(TAG, "当前域控版本支持回执功能");
+            start();
+        }
         int count = receivedAck.getMsgidsCount();
-        if (count == 0 || list.isEmpty()) {
+        if (count == 0 || queue.isEmpty()) {
             if (listener != null) {
                 ReceivedAck ack = new ReceivedAck(0, 0, MessageType.TYPE_DEFAULT, null);
                 ack.setStatus(count == 0 ? ReceivedAck.Status.RECEIVED_ACK_DATA_ERROR : ReceivedAck.Status.WAITING_RECEIVED_ACK_LIST_EMPTY);
@@ -89,7 +94,8 @@ public class ReceivedAckManager {
             }
             return;
         }
-        Iterator<ReceivedAck> iterator = list.iterator();
+
+        Iterator<ReceivedAck> iterator = queue.iterator();
         while (iterator.hasNext()) {
             ReceivedAck ack = iterator.next();
             for (int i = 0; i < count; i++) {
@@ -114,9 +120,9 @@ public class ReceivedAckManager {
             timer.schedule(new TimerTask() {
                 @Override
                 public void run() {
-                    if (!list.isEmpty()) {
+                    if (!queue.isEmpty()) {
                         long time = System.currentTimeMillis();
-                        Iterator<ReceivedAck> iterator = list.iterator();
+                        Iterator<ReceivedAck> iterator = queue.iterator();
                         while (iterator.hasNext()) {
                             ReceivedAck ack = iterator.next();
                             long t = ack.getMessageType().timeoutMillis;
@@ -136,8 +142,13 @@ public class ReceivedAckManager {
     }
 
     public void stop() {
-        if (!list.isEmpty()) {
-            list.clear();
+        destroy();
+        isSupport.set(-1);
+    }
+
+    private void destroy() {
+        if (!queue.isEmpty()) {
+            queue.clear();
         }
         if (timer != null) {
             timer.cancel();