diff --git a/foudations/mogo-utils/build.gradle b/foudations/mogo-utils/build.gradle
index acb651044b..b189907466 100644
--- a/foudations/mogo-utils/build.gradle
+++ b/foudations/mogo-utils/build.gradle
@@ -38,6 +38,7 @@ dependencies {
     annotationProcessor rootProject.ext.dependencies.supportannos
     annotationProcessor rootProject.ext.dependencies.glidecompiler
     implementation rootProject.ext.dependencies.androidxappcompat
+    api 'ch.hsr:geohash:1.4.0'
 
     api rootProject.ext.dependencies.mogoaicloudnetwork
     api rootProject.ext.dependencies.mogoaicloudpassport
diff --git a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
index cf213a065a..4e2757fc78 100644
--- a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
+++ b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapDirectionView.java
@@ -4,12 +4,14 @@ import android.content.Context;
 import android.graphics.Color;
 import android.location.Location;
 import android.util.AttributeSet;
+import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.MotionEvent;
 import android.widget.RelativeLayout;
 
 import androidx.annotation.Nullable;
 
+import com.alibaba.android.arouter.thread.CancelableCountDownLatch;
 import com.amap.api.maps.AMap;
 import com.amap.api.maps.CameraUpdate;
 import com.amap.api.maps.CameraUpdateFactory;
@@ -23,6 +25,7 @@ import com.amap.api.maps.model.Marker;
 import com.amap.api.maps.model.MarkerOptions;
 import com.amap.api.maps.model.Polyline;
 import com.amap.api.maps.model.PolylineOptions;
+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.MogoLatLng;
@@ -36,6 +39,8 @@ import com.mogo.utils.logger.Logger;
 import java.util.ArrayList;
 import java.util.List;
 
+import ch.hsr.geohash.GeoHash;
+
 /**
  * 小地图的方向View
  *
@@ -178,13 +183,33 @@ public class SmallMapDirectionView
             mCarMarker.setToTop();
         }
 
+
         if (mCoordinatesLatLng.size() > 1) {
             mCoordinatesLatLngCurrent.clear();
             for (LatLng lng : mCoordinatesLatLng) {
                 MogoLatLng mogoLatLng = new MogoLatLng(lng.latitude, lng.longitude);
                 mCoordinatesLatLngCurrent.add(mogoLatLng);
             }
-            drawablePolyline(mCoordinatesLatLngCurrent);
+
+            // 结束位置
+            LatLng endLatLng = mCoordinatesLatLng.get(mCoordinatesLatLng.size() - 1);
+            // 与结束位置进行 GeoHash 0-12
+//            GeoHash endGeoHash = GeoHash.withCharacterPrecision(endLatLng.latitude, endLatLng.longitude, 7);
+//            GeoHash currentGeoHash = GeoHash.withCharacterPrecision(currentLatLng.latitude, currentLatLng.longitude, 7);
+//            Log.d(MODULE_NAME, "currentGeoHash=" + currentGeoHash);
+//            Log.d(MODULE_NAME, "endGeoHash=" + endGeoHash);
+
+            float calculateDistance = CoordinateUtils.calculateLineDistance(
+                    endLatLng.latitude, endLatLng.longitude,
+                    currentLatLng.latitude, currentLatLng.longitude
+            );
+
+            Log.d(MODULE_NAME, "calculateDistance=" + calculateDistance);
+            if (calculateDistance <= 20) {
+                clearPolyline();
+            } else {
+                drawablePolyline(mCoordinatesLatLngCurrent);
+            }
         } else {
             //设置希望展示的地图缩放级别
             mAMap.moveCamera(CameraUpdateFactory.newLatLngZoom(currentLatLng, zoomLevel));
diff --git a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapProvider.java b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapProvider.java
index fafaf538e8..77255728a9 100644
--- a/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapProvider.java
+++ b/modules/mogo-module-smp/src/main/java/com/mogo/module/small/map/SmallMapProvider.java
@@ -9,6 +9,7 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.map.MogoLatLng;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.service.MogoServicePaths;
+import com.mogo.service.adas.IMogoAdasRouteCallBack;
 import com.mogo.service.smp.IMogoSmallMapProvider;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
@@ -21,7 +22,7 @@ import java.util.List;
  * @date 12/10/20 1:34 PM
  */
 @Route(path = MogoServicePaths.PATH_SMALL_MAP)
-public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChangedListener {
+public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChangedListener, IMogoAdasRouteCallBack {
     private final String TAG = "SmallVisionProvider";
 
     private Context mContext;
@@ -36,6 +37,7 @@ public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChang
         mActivity = activity;
         mContainerId = containerId;
         SmpServiceManager.init(mActivity);
+        MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasAutopilotRouteCallBack(this);
     }
 
     @Override
@@ -108,4 +110,13 @@ public class SmallMapProvider implements IMogoSmallMapProvider, IMogoStatusChang
             }
         }
     }
+
+    @Override
+    public void routeResult(List<MogoLatLng> routeList) {
+        if (routeList != null && routeList.size() > 0) {
+            drawablePolyline(routeList);
+        } else {
+            clearPolyline();
+        }
+    }
 }
diff --git a/modules/mogo-module-v2x/build.gradle b/modules/mogo-module-v2x/build.gradle
index a299f8db01..9e1de63cc6 100644
--- a/modules/mogo-module-v2x/build.gradle
+++ b/modules/mogo-module-v2x/build.gradle
@@ -44,7 +44,6 @@ dependencies {
 
 //    implementation 'com.tencent.liteavsdk:LiteAVSDK_Smart:7.4.9211'
     implementation rootProject.ext.dependencies.livesdk
-    implementation 'ch.hsr:geohash:1.4.0'
     implementation rootProject.ext.dependencies.flexbox
     implementation rootProject.ext.dependencies.rxandroid
     implementation rootProject.ext.dependencies.androidxrecyclerview
diff --git a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
index c1830441d9..396e8bef1d 100644
--- a/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
+++ b/modules/mogo-module-v2x/src/main/java/com/mogo/module/v2x/utils/TestOnLineCarUtils.java
@@ -496,7 +496,7 @@ public class TestOnLineCarUtils {
         try {
             InputStream inputStream = V2XUtils.getApp()
                     .getResources()
-                    .openRawResource(R.raw.test_coordinates2);
+                    .openRawResource(R.raw.test_coordinates);
             ByteArrayOutputStream baos = new ByteArrayOutputStream();
             int len = -1;
             byte[] buffer = new byte[1024];
diff --git a/modules/mogo-module-v2x/src/main/res/raw/test_coordinates.json b/modules/mogo-module-v2x/src/main/res/raw/test_coordinates.json
index 23201af00b..ddbe44c4da 100644
--- a/modules/mogo-module-v2x/src/main/res/raw/test_coordinates.json
+++ b/modules/mogo-module-v2x/src/main/res/raw/test_coordinates.json
@@ -4,51 +4,91 @@
     "lat": 39.976655
   },
   {
-    "lon": 116.41763,
-    "lat": 39.978033
+    "lon": 116.417636,
+    "lat": 39.977925
   },
   {
-    "lon": 116.417593,
-    "lat": 39.978772
+    "lon": 116.417577,
+    "lat": 39.97876
   },
   {
-    "lon": 116.417464,
-    "lat": 39.981346
-  },
-  {
-    "lon": 116.41741,
-    "lat": 39.982965
-  },
-  {
-    "lon": 116.417132,
-    "lat": 39.987076
-  },
-  {
-    "lon": 116.417217,
-    "lat": 39.988621
-  },
-  {
-    "lon": 116.417217,
-    "lat": 39.990791
-  },
-  {
-    "lon": 116.417325,
-    "lat": 39.997432
+    "lon": 116.417545,
+    "lat": 39.979578
   },
   {
     "lon": 116.417475,
-    "lat": 39.998583
+    "lat": 39.981111
   },
   {
-    "lon": 116.417818,
-    "lat": 40.001377
+    "lon": 116.417443,
+    "lat": 39.981933
   },
   {
-    "lon": 116.417668,
-    "lat": 40.002939
+    "lon": 116.4174,
+    "lat": 39.982718
   },
   {
-    "lon": 116.417475,
-    "lat": 40.003777
+    "lon": 116.417341,
+    "lat": 39.98398
+  },
+  {
+    "lon": 116.417293,
+    "lat": 39.984999
+  },
+  {
+    "lon": 116.417266,
+    "lat": 39.98583
+  },
+  {
+    "lon": 116.417228,
+    "lat": 39.986697
+  },
+  {
+    "lon": 116.417169,
+    "lat": 39.987844
+  },
+  {
+    "lon": 116.417164,
+    "lat": 39.988312
+  },
+  {
+    "lon": 116.417164,
+    "lat": 39.988916
+  },
+  {
+    "lon": 116.417164,
+    "lat": 39.989956
+  },
+  {
+    "lon": 116.417185,
+    "lat": 39.990914
+  },
+  {
+    "lon": 116.417175,
+    "lat": 39.991654
+  },
+  {
+    "lon": 116.417148,
+    "lat": 39.992952
+  },
+  {
+    "lon": 116.417159,
+    "lat": 39.993783
+  },
+  {
+    "lon": 116.41718,
+    "lat": 39.994843
+  },
+  {
+    "lon": 116.417191,
+    "lat": 39.99557
+  },
+  {
+    "lon": 116.417234,
+    "lat": 39.996577
+  },
+  {
+    "lon": 116.417362,
+    "lat": 39.997641
   }
 ]
\ No newline at end of file