diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
index 7fd5dbf2fc..899dac7440 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_base_fragment.xml
@@ -35,11 +35,10 @@
     <!--pnc行为决策-->
     <com.mogo.eagle.core.function.hmi.ui.vehicle.PncActionsView
         android:id="@+id/pcnActionView"
-        android:layout_width="@dimen/dp_250"
-        android:layout_height="@dimen/dp_100"
+        android:layout_width="wrap_content"
+        android:layout_height="@dimen/dp_90"
         android:layout_marginBottom="@dimen/dp_255"
         app:pnc_size="@dimen/dp_44"
-        app:pnc_top_margin="@dimen/dp_20"
         app:background_resource="@drawable/taxi_p_pnc_bg"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintEnd_toEndOf="parent"
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 8b928582cb..01fc54c810 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -212,7 +212,6 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
         mSettingBtn = findViewById(R.id.module_och_taxi_setting_layout);
         mSettingBtn.setOnClickListener(v -> {
-            // TODO: 2021/12/9
             CallerHmiManager.INSTANCE.showToolsView();
         });
 
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
index 6acdcc1515..3fe8bac6bd 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
@@ -15,7 +15,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getState
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
@@ -49,8 +48,7 @@ class DispatchAutoPilotManager private constructor() :
 
         private const val MSG_SOCKET_TYPE = 501000
         private const val MSG_TYPE_SHOW_DIALOG = 0
-        private const val MSG_TYPE_UPLOAD_AUTOPILOT_STATUS = 1
-        private const val MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING = 2
+        private const val MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING = 1
 
         val dispatchAutoPilotManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
             DispatchAutoPilotManager()
@@ -72,9 +70,6 @@ class DispatchAutoPilotManager private constructor() :
                 val msgData: DispatchAdasAutoPilotLocReceiverBean =
                     msg.obj as DispatchAdasAutoPilotLocReceiverBean
                 CallerHmiManager.showDispatchDialog(msgData)
-            } else if (msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_STATUS) {
-                dispatchServiceModel.uploadAutopilotStatus(getState(), "")
-                sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L)
             } else if(msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING){
                 val data = msg.obj as MessagePad.GlobalPathResp
                 val list: MutableList<AutopilotRouteInfo.RouteModels> = ArrayList()
@@ -99,7 +94,6 @@ class DispatchAutoPilotManager private constructor() :
         CallerPlanningRottingListenerManager.addListener(TAG, this)
         // 添加 ADAS状态 监听
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
-        handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L)
     }
 
     fun release() {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
index 0b1d759469..6f0264cbe3 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
@@ -5,7 +5,6 @@ import com.mogo.commons.constants.HostConst
 import com.mogo.commons.context.ContextHolderUtil
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo.RouteModels
-import com.mogo.eagle.core.data.autopilot.AutopilotStatus
 import com.mogo.eagle.core.data.biz.dispatch.ReportDispatchResult
 import com.mogo.eagle.core.data.biz.dispatch.ReportedRoute
 import com.mogo.eagle.core.network.MoGoRetrofitFactory
@@ -38,43 +37,6 @@ class DispatchServiceModel private constructor() {
             IDispatchAdasApiService::class.java
         )
 
-    /**
-     * 上报自动驾驶状态
-     */
-    fun uploadAutopilotStatus(state: Int, reason: String?) {
-        val autopilotStatus = AutopilotStatus()
-        autopilotStatus.action = "autopilotstate"
-        val valuesBean = AutopilotStatus.ValuesBean()
-        valuesBean.state = state
-        valuesBean.reason = reason
-        autopilotStatus.values = valuesBean
-        val sn = MoGoAiCloudClientConfig.getInstance().sn
-        val reportedRoute = ReportedRoute(
-            sn,
-            autopilotStatus.values
-        )
-        val map: MutableMap<String, Any> = HashMap()
-        map["sn"] = sn
-        map["data"] = GsonUtil.jsonFromObject(reportedRoute)
-        mAdasApiService.uploadAutopilotState(map)
-            .subscribeOn(Schedulers.io())
-            .observeOn(AndroidSchedulers.mainThread())
-            .subscribe(object :
-                SubscribeImpl<BaseData>(RequestOptions.create(ContextHolderUtil.getContext())) {
-                override fun onNext(o: BaseData) {
-                    super.onNext(o)
-                }
-
-                override fun onError(e: Throwable) {
-                    super.onError(e)
-                }
-
-                override fun onSuccess(o: BaseData) {
-                    super.onSuccess(o)
-                }
-            })
-    }
-
     /**
      * 上报自动驾驶路线
      *
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
index 2e1ff638f6..c16ec3e0f6 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
@@ -27,13 +27,4 @@ interface IDispatchAdasApiService {
     @POST("eagle-eye-dns/dataService/autoDriver/receiverDestSiteResult")
     fun uploadDispatchResult(@FieldMap parameters: MutableMap<String, Any>): Observable<BaseData>
 
-    /**
-     * 上报自动驾驶状态  服务于业务调度
-     *
-     * @param parameters map
-     * @return [BaseData]
-     */
-    @FormUrlEncoded
-    @POST("eagle-eye-dns/dataService/autoDriver/receiveAutopilotState")
-    fun uploadAutopilotState(@FieldMap parameters: MutableMap<String, Any>): Observable<BaseData>
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
index 7bb917b61c..6d82e9399e 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/core/MogoTrafficLightManager.kt
@@ -44,6 +44,7 @@ class MogoTrafficLightManager : IMoGoChassisLocationGCJ02Listener {
 
     private var mThreadHandler: Handler? = null
 
+    //todo 优化looper，需要考虑回调数据线程同步
     fun initServer(context: Context) {
         mContext = context
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
index a96f1e89d7..1646e6a7d2 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/trafficlight/network/TrafficLightNetWorkModel.kt
@@ -26,14 +26,12 @@ class TrafficLightNetWorkModel {
         onError: ((String) -> Unit),
     ) {
         request<BaseResponse<RoadIDResult>>("requestRoadID") {
-            val map = hashMapOf<String, String>()
-            start {
-                val roadIDRequestData = RoadIDRequestData(tileID, lat, lon, bearing)
-                map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
-                map["data"] = GsonUtils.toJson(roadIDRequestData)
-            }
             loader {
                 apiCall {
+                    val map = hashMapOf<String, String>()
+                    val roadIDRequestData = RoadIDRequestData(tileID, lat, lon, bearing)
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["data"] = GsonUtils.toJson(roadIDRequestData)
                     getNetWorkApi().getFrontRoadID(map)
                 }
             }
@@ -74,12 +72,12 @@ class TrafficLightNetWorkModel {
                 if (roadId == null) {
                     return@start
                 }
-                val trafficLightRequestData = TrafficLightRequestData(lat, lon, bearing, roadId)
-                map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
-                map["data"] = GsonUtils.toJson(trafficLightRequestData)
             }
             loader {
                 apiCall {
+                    val trafficLightRequestData = TrafficLightRequestData(lat, lon, bearing, roadId!!)
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["data"] = GsonUtils.toJson(trafficLightRequestData)
                     getNetWorkApi().getTrafficLight(map)
                 }
             }
@@ -112,14 +110,12 @@ class TrafficLightNetWorkModel {
     ) {
         request<BaseResponse<TrafficLightControl>> {
             val map = hashMapOf<String, String>()
-            start {
-                val trafficLightRequestData =
-                    ChangeLightRequestData(lightId, crossingNo, heading, controlTime)
-                map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
-                map["data"] = GsonUtils.toJson(trafficLightRequestData)
-            }
             loader {
                 apiCall {
+                    val trafficLightRequestData =
+                        ChangeLightRequestData(lightId, crossingNo, heading, controlTime)
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["data"] = GsonUtils.toJson(trafficLightRequestData)
                     getNetWorkApi().changeLight(map)
                 }
             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
index 96a920d185..aadf84df1d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
@@ -40,7 +40,6 @@ class PncActionsView @JvmOverloads constructor(
     private var mTrafficLightResult: TrafficLightResult? = null
 
     private val bgResources: Int
-    private val topMargin: Float
     private val txtSize: Float
 
     init {
@@ -50,10 +49,6 @@ class PncActionsView @JvmOverloads constructor(
             R.styleable.PncActionsView_background_resource,
             R.drawable.pnc_actions_bg
         )
-        topMargin = a.getDimension(
-            R.styleable.PncActionsView_pnc_top_margin,
-            resources.getDimension(R.dimen.dp_30)
-        )
         txtSize = a.getDimension(
             R.styleable.PncActionsView_pnc_size,
             resources.getDimension(R.dimen.dp_34)
@@ -63,7 +58,6 @@ class PncActionsView @JvmOverloads constructor(
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        (tvHmiPncActions.layoutParams as MarginLayoutParams).topMargin = topMargin.toInt()
         tvHmiPncActions.setTextSize(COMPLEX_UNIT_PX, txtSize)
 
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
@@ -81,7 +75,7 @@ class PncActionsView @JvmOverloads constructor(
     override fun onAutopilotStatusResponse(state: Int) {
         if (state != STATUS_AUTOPILOT_RUNNING) {
             UiThreadHandler.post {
-                this.background = null
+                tvHmiPncActions.background = null
                 tvHmiPncActions.text = ""
             }
         }
@@ -117,15 +111,15 @@ class PncActionsView @JvmOverloads constructor(
                     }
                     // update view
                     if (actions.isNullOrEmpty()) {
-                        this.background = null
+                        tvHmiPncActions.background = null
                         tvHmiPncActions.text = ""
                     } else {
-                        this.background =
+                        tvHmiPncActions.background =
                             AppCompatResources.getDrawable(context, bgResources)
                         tvHmiPncActions.text = actions
                     }
                 } else {
-                    this.background = null
+                    tvHmiPncActions.background = null
                     tvHmiPncActions.text = ""
                 }
             }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
index 7314ec144c..83a75850b2 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_pnc_actions.xml
@@ -2,12 +2,15 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:layout_width="wrap_content"
-    android:layout_height="wrap_content">
+    android:layout_height="match_parent">
 
     <TextView
         android:id="@+id/tvHmiPncActions"
         android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="match_parent"
+        android:paddingStart="@dimen/dp_70"
+        android:paddingBottom="@dimen/dp_5"
+        android:paddingEnd="@dimen/dp_70"
         android:gravity="center"
         android:textColor="#FFFFFF"
         app:layout_constraintBottom_toBottomOf="parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml
index a8bee1d4d4..8519e67a96 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/attr.xml
@@ -85,7 +85,6 @@
 
     <declare-styleable name="PncActionsView">
         <attr name="background_resource" format="reference"/>
-        <attr name="pnc_top_margin" format="dimension"/>
         <attr name="pnc_size" format="dimension"/>
     </declare-styleable>
 
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisDoorStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisDoorStateListenerManager.kt
index 65714818ad..3db1192539 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisDoorStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerChassisDoorStateListenerManager.kt
@@ -4,7 +4,7 @@ import chassis.Chassis
 import chassis.VehicleStateOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisDoorStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
-import java.util.*
+import java.util.concurrent.CopyOnWriteArrayList
 import kotlin.properties.Delegates
 
 /**
@@ -12,7 +12,7 @@ import kotlin.properties.Delegates
  */
 object CallerChassisDoorStateListenerManager : CallerBase<IMoGoChassisDoorStateListener>() {
 
-    private val listCache = Collections.emptyList<VehicleStateOuterClass.DoorStateV2>()
+    private val listCache = CopyOnWriteArrayList<VehicleStateOuterClass.DoorStateV2>()
 
     private var frontLeft by Delegates.observable(0) { _, oldV, newV ->
         if (oldV != newV) {
@@ -55,6 +55,7 @@ object CallerChassisDoorStateListenerManager : CallerBase<IMoGoChassisDoorStateL
      * 车门状态
      */
     fun invokeAutopilotDoorState(doorList: MutableList<VehicleStateOuterClass.DoorStateV2>) {
+        listCache.clear()
         listCache.addAll(doorList)
         doorList.forEach {
             when (it.number) {