diff --git a/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/MoGoOCHNoopProvider.kt b/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/MoGoOCHNoopProvider.kt
index 1abf670a2e..9ea1d1dfd3 100644
--- a/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/MoGoOCHNoopProvider.kt
+++ b/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/MoGoOCHNoopProvider.kt
@@ -4,18 +4,8 @@ import android.content.Context
 import androidx.fragment.app.Fragment
 import androidx.fragment.app.FragmentActivity
 import com.alibaba.android.arouter.facade.annotation.Route
-import com.mogo.commons.module.status.IMogoStatusChangedListener
-import com.mogo.commons.module.status.MogoStatusManager
-import com.mogo.commons.module.status.StatusDescriptor
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 
-/**
- * @author congtaowang
- * @since 2021/1/15
- *
- *
- * 描述
- */
 @Route(path = OCHConstants.PATH)
 class MoGoOCHNoopProvider : IMogoOCH {
 
@@ -31,23 +21,8 @@ class MoGoOCHNoopProvider : IMogoOCH {
     private var activity: FragmentActivity? = null
 
     override fun init(context: Context) {
-        MogoStatusManager.getInstance().registerStatusChangedListener(
-            TAG, StatusDescriptor.VR_MODE, statusChangedListener
-        )
     }
 
-    private val statusChangedListener =
-        IMogoStatusChangedListener { descriptor: StatusDescriptor, isTrue: Boolean ->
-            if (descriptor == StatusDescriptor.VR_MODE) {
-                // 进入vr模式默认显示网约车小巴fragment
-                if (isTrue) {
-                    showFragment()
-                } else {
-                    hideFragment()
-                }
-            }
-        }
-
     private fun showFragment() {
         activity?.let {
             if (fragment == null) {
@@ -72,17 +47,10 @@ class MoGoOCHNoopProvider : IMogoOCH {
         }
     }
 
-    private fun hideFragment() {
-        if (fragment != null) {
-            d(TAG, "准备hide fragment")
-            activity?.supportFragmentManager?.beginTransaction()?.hide(fragment!!)
-                ?.commitAllowingStateLoss()
-        }
-    }
-
     override fun createCoverage(activity: FragmentActivity?, containerId: Int?): Fragment? {
         this.containerId = containerId!!
         this.activity = activity
+        showFragment()
         return null
     }
 
diff --git a/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/OchNoopFragment.kt b/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/OchNoopFragment.kt
index 241a04a3a0..a716c3ba70 100644
--- a/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/OchNoopFragment.kt
+++ b/OCH/mogo-och-noop/src/main/java/com/mogo/och/noop/OchNoopFragment.kt
@@ -1,6 +1,5 @@
 package com.mogo.och.noop
 
-import android.view.View
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugView
 import kotlinx.android.synthetic.main.och_noop_fragment_hmi.*
@@ -29,21 +28,6 @@ class OchNoopFragment : MvpFragment<OchNoopContract.View?, OchNoopPresenter?>(),
             ToggleDebugView.toggleDebugView.toggle(requireContext())
             true
         }
-
-//        cbMsgBoxDriver.setOnCheckedChangeListener { _, isChecked ->
-//            if (isChecked) {
-//                viewDriverMsgBoxList.visibility = View.VISIBLE
-//                viewDriverMsgBoxList.notifyData()
-//                viewDriverMsgBoxBubble.visibility = View.GONE
-//                viewDriverMsgBoxBubble.isShowData(false)
-//                MsgBoxTipView.visibility = View.GONE
-//            } else {
-//                viewDriverMsgBoxList.visibility = View.GONE
-//                viewDriverMsgBoxBubble.visibility = View.VISIBLE
-//                viewDriverMsgBoxBubble.isShowData(true)
-//            }
-//        }
-
     }
 
 
diff --git a/OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml b/OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml
index fb8338a2b9..447299cd97 100644
--- a/OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml
+++ b/OCH/mogo-och-noop/src/main/res/layout/och_noop_fragment_hmi.xml
@@ -14,6 +14,19 @@
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <com.mogo.eagle.core.function.view.MapBizView
+        android:id="@+id/mapBizView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent" />
+
+    <!--刹车、转向-->
+    <com.mogo.eagle.core.function.hmi.ui.vehicle.SteeringBrakeView
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
     <!--V2X预警红色边框-->
     <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
         android:layout_width="match_parent"
@@ -38,13 +51,6 @@
             app:layout_constraintLeft_toLeftOf="parent"
             app:layout_constraintTop_toTopOf="parent" />
 
-        <com.mogo.eagle.core.function.hmi.ui.widget.SteeringWheelView
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            app:layout_constraintLeft_toLeftOf="parent"
-            app:layout_constraintRight_toRightOf="parent"
-            app:layout_constraintTop_toTopOf="parent" />
-
         <!--Vip车辆标志-->
         <com.mogo.eagle.core.function.hmi.ui.widget.VipIdentificationView
             android:layout_width="@dimen/module_vip_width"
@@ -73,7 +79,7 @@
             android:layout_marginTop="@dimen/module_mogo_autopilot_status_margin_top"
             android:elevation="@dimen/dp_10"
             app:layout_constraintLeft_toLeftOf="@+id/viewSpeedChart"
-            app:layout_constraintTop_toBottomOf="@+id/viewSpeedChart"/>
+            app:layout_constraintTop_toBottomOf="@+id/viewSpeedChart" />
 
         <!--超视距-->
         <com.mogo.eagle.core.function.hmi.ui.widget.CameraView
@@ -101,16 +107,16 @@
             android:visibility="gone"
             app:layout_constraintRight_toRightOf="parent"
             app:layout_constraintTop_toBottomOf="@+id/ivCameraIcon"
-            tools:visibility="visible"/>
+            tools:visibility="visible" />
 
         <!--红绿灯-->
         <com.mogo.eagle.core.function.hmi.ui.widget.SingleTrafficLightView
             android:id="@+id/viewTrafficLightVr"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:visibility="gone"
             android:layout_marginTop="@dimen/hmi_traffic_light_layout_margin_top"
             android:layout_marginEnd="@dimen/hmi_traffic_light_layout_margin_right"
+            android:visibility="gone"
             app:layout_constraintRight_toRightOf="parent"
             app:layout_constraintTop_toTopOf="parent" />
 
@@ -142,11 +148,11 @@
             android:layout_height="@dimen/module_hmi_check_size"
             android:layout_marginStart="25dp"
             android:layout_marginBottom="40dp"
+            android:contentDescription="工具箱"
             android:elevation="@dimen/dp_10"
             app:layout_constraintBottom_toBottomOf="parent"
             app:layout_constraintStart_toEndOf="@+id/viewPerspectiveSwitch"
-            app:layout_goneMarginStart="50dp"
-            android:contentDescription="工具箱"/>
+            app:layout_goneMarginStart="50dp" />
 
         <!--问题反馈-->
         <ImageView
@@ -155,10 +161,10 @@
             android:layout_height="120dp"
             android:layout_marginStart="50dp"
             android:layout_marginBottom="40dp"
+            android:contentDescription="BadCase"
             android:src="@drawable/bad_case_selector"
             app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toEndOf="@id/ivToolsView"
-            android:contentDescription="BadCase"/>
+            app:layout_constraintStart_toEndOf="@id/ivToolsView" />
 
         <ImageView
             android:id="@+id/ivAiCollectTools"
@@ -166,10 +172,10 @@
             android:layout_height="120dp"
             android:layout_marginStart="50dp"
             android:layout_marginBottom="40dp"
+            android:contentDescription="数据采集"
             android:src="@drawable/ai_collect_selector"
             app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintStart_toEndOf="@id/ivBadCaseTools"
-            android:contentDescription="数据采集" />
+            app:layout_constraintStart_toEndOf="@id/ivBadCaseTools" />
 
         <View
             android:id="@+id/viewUpgradeTips"
@@ -217,7 +223,7 @@
             android:visibility="gone"
             app:layout_constraintRight_toRightOf="parent"
             app:layout_constraintTop_toBottomOf="@id/cbMsgBoxDriver"
-            tools:visibility="gone"/>
+            tools:visibility="gone" />
 
         <com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView
             android:id="@+id/viewDriverMsgBoxBubble"
diff --git a/app/productFlavors/fMultiDisplayOchBus.gradle b/app/productFlavors/fMultiDisplayOchBus.gradle
index 8d14fd8c08..a0df186b8e 100644
--- a/app/productFlavors/fMultiDisplayOchBus.gradle
+++ b/app/productFlavors/fMultiDisplayOchBus.gradle
@@ -38,6 +38,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.102\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true'
diff --git a/app/productFlavors/fMultiDisplayOchTaxi.gradle b/app/productFlavors/fMultiDisplayOchTaxi.gradle
index 87a05019bc..64b148fead 100644
--- a/app/productFlavors/fMultiDisplayOchTaxi.gradle
+++ b/app/productFlavors/fMultiDisplayOchTaxi.gradle
@@ -40,6 +40,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.102\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true'
diff --git a/app/productFlavors/fOchBus.gradle b/app/productFlavors/fOchBus.gradle
index 74a517445a..e48e69532f 100644
--- a/app/productFlavors/fOchBus.gradle
+++ b/app/productFlavors/fOchBus.gradle
@@ -41,6 +41,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.102\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
diff --git a/app/productFlavors/fOchBusPassengerM1.gradle b/app/productFlavors/fOchBusPassengerM1.gradle
index 037127ede3..116a5588e4 100644
--- a/app/productFlavors/fOchBusPassengerM1.gradle
+++ b/app/productFlavors/fOchBusPassengerM1.gradle
@@ -41,6 +41,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.103\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
diff --git a/app/productFlavors/fOchSweeper.gradle b/app/productFlavors/fOchSweeper.gradle
index 3d5e372298..623418691e 100644
--- a/app/productFlavors/fOchSweeper.gradle
+++ b/app/productFlavors/fOchSweeper.gradle
@@ -41,6 +41,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.8.102\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
diff --git a/app/productFlavors/fOchTaxi.gradle b/app/productFlavors/fOchTaxi.gradle
index 86a5b3f427..0a1237c9c4 100644
--- a/app/productFlavors/fOchTaxi.gradle
+++ b/app/productFlavors/fOchTaxi.gradle
@@ -42,6 +42,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.102\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
diff --git a/app/productFlavors/fOchTaxiPassenger.gradle b/app/productFlavors/fOchTaxiPassenger.gradle
index 83fa4cf756..f70355d0e4 100644
--- a/app/productFlavors/fOchTaxiPassenger.gradle
+++ b/app/productFlavors/fOchTaxiPassenger.gradle
@@ -41,6 +41,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.103\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'true'
diff --git a/app/productFlavors/fPadLenovo.gradle b/app/productFlavors/fPadLenovo.gradle
index 39a9cbfc10..2828fbfa80 100644
--- a/app/productFlavors/fPadLenovo.gradle
+++ b/app/productFlavors/fPadLenovo.gradle
@@ -38,6 +38,8 @@ project.android.productFlavors {
         buildConfigField 'String', 'ADAS_CONNECT_IP', "\"192.168.1.104\""
         // 构建的是否是演示（美化）模式
         buildConfigField 'boolean', 'IS_DEMO_MODE', 'false'
+        // 构建的是否要动态更换模型
+        buildConfigField 'boolean', 'IS_CAR_MODEL_CHANGE', 'true'
 
         // 构建 是否支持多屏异显异交互
         buildConfigField 'boolean', 'IS_MULTI_DISPLAY', 'false'
diff --git a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
index bf3fb9760a..c2ed3c2e4e 100644
--- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
@@ -79,6 +79,7 @@ object ConfigStartUp {
         DebugConfig.setMapOptVersion(BuildConfig.MAP_SDK_OPT_VERSION)
         DebugConfig.setNeedUploadCoordinatesInTime(BuildConfig.IS_NEED_UPLOAD_COORDINATES_IN_TIME)
         DebugConfig.setMultiDisplay(BuildConfig.IS_MULTI_DISPLAY)
+        DebugConfig.setCarModelChange(BuildConfig.IS_CAR_MODEL_CHANGE)
     }
 
     private fun initOtherConfig(context: Context) {
diff --git a/core/function-impl/mogo-core-function-datacenter/build.gradle b/core/function-impl/mogo-core-function-datacenter/build.gradle
index a689c55ff7..70e7c4ac08 100644
--- a/core/function-impl/mogo-core-function-datacenter/build.gradle
+++ b/core/function-impl/mogo-core-function-datacenter/build.gradle
@@ -58,7 +58,6 @@ dependencies {
     implementation rootProject.ext.dependencies.amapnavi3dmap
     implementation project(':libraries:mogo-obu')
     implementation project(':libraries:mogo-adas')
-    implementation project(':libraries:mogo-adas-data')
 
     if (Boolean.valueOf(USE_MAVEN_PACKAGE)) {
         implementation rootProject.ext.dependencies.mogo_core_utils
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
index cade324693..6fe7f68168 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/obu/MogoPrivateObuNewManager.kt
@@ -354,8 +354,6 @@ class MogoPrivateObuNewManager private constructor() {
 
                     when (status) {
                         MogoObuConstants.STATUS.ADD -> { // 添加
-                            //显示警告红边
-//                        CallerHmiManager.showWarning(direction)
                             //不显示弹框，语音提示,数据在消息盒子里面展示，此处不在处理弹框
                             if (alertContent.isEmpty() || ttsContent.isEmpty()) {
                                 return
@@ -583,7 +581,7 @@ class MogoPrivateObuNewManager private constructor() {
         var ttsContent: String = ""
         var changeVisualAngle = false
         when (appId) {
-            //交叉路口碰撞预警
+            //前向碰撞预警
             MogoObuConstants.V2X_WARNING_TYPE.FCW.toString() -> {
                 alertContent =
                     EventTypeEnumNew.getWarningContent(EventTypeEnumNew.TYPE_USECASE_ID_FCW.poiType)
@@ -736,6 +734,7 @@ class MogoPrivateObuNewManager private constructor() {
                         }, direction
                     )
                 }
+//                ObuManager.getInstance().obuRvToTrackedObject(info)
                 //更新周边车辆进行预警颜色变换，车辆实时移动和变色 ，UUID不需要匹配了
                 TrafficDataConvertUtilsNew.cvxV2vThreatIndInfo2TrafficData(info)?.let {
                     CallerMapUIServiceManager.getMarkerService()
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
index 316bb35fec..5807bf4e57 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarManager.kt
@@ -115,7 +115,7 @@ class BindingCarManager : IMoGoAutopilotCarConfigListener {
                 SharedPrefsMgr.getInstance(mContext!!)
                     .putLong("typeDriver", System.currentTimeMillis() / (1000 * 60))
                 BindingCarNetWorkManager.instance
-                    .getBindingcarInfo(mContext, macAddress, widevineIDWithMd5, screenType)
+                    .getBindingCarInfo(mContext!!, macAddress, widevineIDWithMd5, screenType)
             }
         }
     }
@@ -131,7 +131,7 @@ class BindingCarManager : IMoGoAutopilotCarConfigListener {
                 SharedPrefsMgr.getInstance(mContext!!)
                     .putLong("typePassenger", System.currentTimeMillis() / (1000 * 60))
                 BindingCarNetWorkManager.instance
-                    .getBindingcarInfo(mContext, macAddress, widevineIDWithMd5, screenType)
+                    .getBindingCarInfo(mContext!!, macAddress, widevineIDWithMd5, screenType)
             }
         }
     }//乘客屏//司机屏
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
index 578e485b2f..2ce95132d3 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/binding/BindingCarNetWorkManager.kt
@@ -3,6 +3,7 @@ package com.zhjt.mogo_core_function_devatools.binding
 import android.content.Context
 import com.mogo.commons.constants.HostConst
 import com.mogo.commons.constants.SharedPrefsConstants
+import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.bindingcar.BindingCarInfo
 import com.mogo.eagle.core.data.bindingcar.BindingCarRequest
 import com.mogo.eagle.core.data.bindingcar.ModifyBindingcarInfo
@@ -40,16 +41,17 @@ class BindingCarNetWorkManager private constructor() {
         }
     }
 
-    private val mBindingCarApiService: BindingCarApiService = MoGoRetrofitFactory.getInstance(HostConst.getHost())
-        .create(BindingCarApiService::class.java)
+    private val mBindingCarApiService: BindingCarApiService =
+        MoGoRetrofitFactory.getInstance(HostConst.getHost())
+            .create(BindingCarApiService::class.java)
 
     /**
      * 获取绑定的车辆信息
      *
      * @param macAddress mac地址
      */
-    fun getBindingcarInfo(
-        context: Context?,
+    fun getBindingCarInfo(
+        context: Context,
         macAddress: String?,
         widevineIDWithMd5: String?,
         screenType: Int
@@ -72,10 +74,10 @@ class BindingCarNetWorkManager private constructor() {
                 override fun onSubscribe(d: Disposable) {}
                 override fun onNext(info: BindingCarInfo) {
                     if (info != null && info.getData() != null) {
-                        d(
-                            SceneConstant.M_BINDING + TAG,
-                            "getBindingcarInfo onNext info.getData() =" + info.getData().toString()
-                        )
+                        d(SceneConstant.M_BINDING + TAG, "getBindingcarInfo data =" + info.getData().toString())
+                        if (!SharedPrefsMgr.getInstance(context).getString(SharedPrefsConstants.MAC_ADDRESS).equals(macAddress) && DebugConfig.isCarModelChange()) {
+                            updateCarVrIconRes(info.getData().brandId);
+                        }
                         //根据车辆类型切换不同的车辆模型,只针对红旗做处理
                         updateCarVrIconRes(info.getData().brandId)
                         when (info.getData().compare) {
@@ -83,10 +85,8 @@ class BindingCarNetWorkManager private constructor() {
                             "3" -> showModifyBindingCarDialog()
                             "null" -> TipToast.shortTip("当前工控机没有入库")
                         }
-                        SharedPrefsMgr.getInstance(context!!).putString(
-                            SharedPrefsConstants.CAR_INFO,
-                            GsonUtils.toJson(info.getData())
-                        )
+                        SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.CAR_INFO, GsonUtils.toJson(info.getData()))
+                        SharedPrefsMgr.getInstance(context).putString(SharedPrefsConstants.MAC_ADDRESS, macAddress)
                     }
                 }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
index cde4b3ab84..00021183f3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/SteeringBrakeView.kt
@@ -35,10 +35,6 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
 
     init {
         LayoutInflater.from(context).inflate(R.layout.view_steering_brake, this, true)
-        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.SteeringBrakeView)
-        val dayLight = typedArray.getBoolean(R.styleable.SteeringBrakeView_day_light_mode, false)
-        turnLightView.dayLightMode(dayLight)
-        typedArray.recycle()
     }
 
     override fun onAttachedToWindow() {
@@ -47,7 +43,6 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
         CallerChassisLocationWGS84ListenerManager.addListener(TAG, this)
     }
 
-
     override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
         if (gnssInfo != null) {
             //设置刹车信息,小于默认认为是刹车
@@ -86,8 +81,6 @@ class SteeringBrakeView(context: Context, attrs: AttributeSet?) : ConstraintLayo
                 brakeView.visibility = View.GONE
                 isShowTurnLight = false
             }
-            turnLightView.visibility = View.VISIBLE
-            turnLightView.setTurnLight(lightSwitch)
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
index e38d41ccbd..c2683e8c6c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TurnLightViewStatus.kt
@@ -11,9 +11,12 @@ import android.view.animation.Animation
 import android.widget.ImageView
 import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.Chassis
-import com.mogo.eagle.core.function.api.map.angle.*
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLamplightListener
+import com.mogo.eagle.core.function.api.map.angle.Turning
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLamplightListenerManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.function.hmi.R
+import kotlinx.android.synthetic.main.view_steering_brake.view.*
 import kotlinx.android.synthetic.main.view_turn_light_status.view.*
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.GlobalScope
@@ -25,33 +28,62 @@ import kotlinx.coroutines.launch
  * @author lixiaopeng
  * @since  2022/1/10
  */
-class TurnLightViewStatus @JvmOverloads constructor(
+open class TurnLightViewStatus @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : ConstraintLayout(context, attrs, defStyleAttr) {
+) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoChassisLamplightListener {
 
-    private var init: Boolean = false
+    companion object {
+        private const val TAG = "TurnLightViewStatus"
+    }
 
-    fun dayLightMode(dayLight: Boolean) {
+    private val visible: Boolean
+
+    init {
+        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.TurnLightView)
+        val dayLight = typedArray.getBoolean(R.styleable.TurnLightView_day_light_mode, false)
         if (dayLight) {
             LayoutInflater.from(context)
                 .inflate(R.layout.view_turn_light_status_daytime, this, true)
         } else {
             LayoutInflater.from(context).inflate(R.layout.view_turn_light_status, this, true)
         }
-        invalidate()
-        init = true
+        visible = typedArray.getBoolean(R.styleable.TurnLightView_visible, false)
+        if (visible) {
+            turn_light_layout.visibility = View.VISIBLE
+        } else {
+            turn_light_layout.visibility = View.GONE
+        }
+        typedArray.recycle()
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        CallerChassisLamplightListenerManager.addListener(TAG, this)
+    }
+
+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerChassisLamplightListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotLightSwitchData(lightSwitch: Chassis.LightSwitch?) {
+        super.onAutopilotLightSwitchData(lightSwitch)
+        lightSwitch?.let {
+            turnLightView.visibility = View.VISIBLE
+            setTurnLight(it)
+        }
     }
 
     /**
      * 转向灯动画
      */
-    fun setTurnLight(directionLight: Chassis.LightSwitch) {
+    private fun setTurnLight(directionLight: Chassis.LightSwitch) {
+        if (!isAttachedToWindow) {
+            return
+        }
         GlobalScope.launch(Dispatchers.Main) {
-            if (!init) {
-                return@launch
-            }
             //根据左右进行显示和隐藏，实际要判断每个来的时间和频度
             when (directionLight) {
                 Chassis.LightSwitch.LIGHT_LEFT -> { //左转向
@@ -135,7 +167,9 @@ class TurnLightViewStatus @JvmOverloads constructor(
             }
 
             override fun onAnimationEnd(p0: Animation?) {
-                turn_light_layout.visibility = View.GONE
+                if (visible) {
+                    turn_light_layout.visibility = View.GONE
+                }
                 stopAnimate()
             }
         })
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
index 93fb48fd71..bd8cdb8807 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SpeedPanelView.kt
@@ -5,23 +5,22 @@ import android.graphics.Color
 import android.util.AttributeSet
 import android.view.Gravity
 import android.widget.FrameLayout
+import com.mogo.eagle.core.data.enums.DataSourceType
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
+import com.mogo.eagle.core.function.api.v2x.ILimitingVelocityListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
-import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.call.v2x.CallerLimitingVelocityListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import java.util.*
 
-/**
- * @author xiaoyuzhou
- * @date 2021/8/25 8:25 下午
- */
 class SpeedPanelView @JvmOverloads constructor(
     context: Context,
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
-) : FrameLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener {
+) : FrameLayout(context, attrs, defStyleAttr), IMoGoChassisLocationGCJ02Listener,
+    ILimitingVelocityListener {
 
     companion object {
         const val TAG = "SpeedPanelView"
@@ -30,11 +29,6 @@ class SpeedPanelView @JvmOverloads constructor(
     var mContext: Context
     var mSpeedChartView: SpeedChartView
     var mLatLng: MogoLocation? = null
-    var mSpeedLimit = 60
-
-    private val timer by lazy {
-        Timer()
-    }
 
     init {
         setBackgroundResource(R.drawable.yi_biao_pan_bg_nor)
@@ -50,49 +44,34 @@ class SpeedPanelView @JvmOverloads constructor(
         addView(mSpeedChartView)
     }
 
-    private var timerTask: TimerTask? = null
-
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        // 注册位置回调
+        CallerLimitingVelocityListenerManager.addListener(TAG, this)
         CallerChassisLocationGCJ02ListenerManager.addListener(TAG, this)
-        // 开启定时查询速度
-        timerTask?.cancel()
-        val task = object : TimerTask() {
-            override fun run() {
-                mLatLng?.let {
-                    mSpeedLimit = CallerMapUIServiceManager.getMapUIController()!!.getLimitSpeed(it.longitude, it.latitude,
-                        it.heading.toFloat()
-                    )
-                    UiThreadHandler.post {
-                        val speed = (it.gnssSpeed * 3.6f).toInt()
-                        mSpeedChartView.setArcColor(Color.parseColor(if (speed > mSpeedLimit) "#DB3137" else "#3E77F6"))
-                        mSpeedChartView.setValues(speed)
-                        setBackgroundResource(if (speed > mSpeedLimit) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
-                    }
-                }
-            }
-        }
-        this.timerTask = task
-        timer.schedule(task, Date(), 200)
     }
 
-    override fun onChassisLocationGCJ02(gnssInfo: MogoLocation?) {
-        gnssInfo?.let {
-            mLatLng = gnssInfo
+    override fun onChassisLocationGCJ02(mogoLocation: MogoLocation?) {
+        mogoLocation?.let {
+            mLatLng = mogoLocation
+        }
+    }
+
+    override fun onLimitingVelocityChange(limitingVelocity: Int, sourceType: DataSourceType) {
+        super.onLimitingVelocityChange(limitingVelocity, sourceType)
+        mLatLng?.let {
+            UiThreadHandler.post {
+                val speed = (it.gnssSpeed * 3.6f).toInt()
+                mSpeedChartView.setArcColor(Color.parseColor(if (speed > limitingVelocity) "#DB3137" else "#3E77F6"))
+                mSpeedChartView.setValues(speed)
+                setBackgroundResource(if (speed > limitingVelocity) R.drawable.yi_biao_pan_bg_speeding else R.drawable.yi_biao_pan_bg_nor)
+            }
         }
     }
 
     override fun onDetachedFromWindow() {
         super.onDetachedFromWindow()
-        // 解除注册
+        CallerLimitingVelocityListenerManager.removeListener(TAG)
         CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
-        try {
-            timerTask?.cancel()
-        } catch (e: Exception) {
-            e.printStackTrace()
-        }
     }
 
-
 }
\ No newline at end of file
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 4f2048218d..4e1a2e3835 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
@@ -69,9 +69,9 @@
         <item name="android:borderlessButtonStyle">@android:color/transparent</item>
     </style>
 
-    <declare-styleable name="SteeringBrakeView">
+    <declare-styleable name="TurnLightView">
         <attr name="day_light_mode" format="boolean"/>
-        <attr name="brakeView" format="boolean"/>
+        <attr name="visible" format="boolean"/>
     </declare-styleable>
 
     <declare-styleable name="PncActionsView">
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt
index bc96ab3770..d98984e337 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackerSourceColorHelper.kt
@@ -67,6 +67,11 @@ object TrackerSourceColorHelper {
             color = "#9900ffFF"
         }
 
+        //僵尸车
+        if(data.addAttribute == AdditionalAttribute.ATTR_ZOMBIE){
+            color = "#D1E5FDFF"
+        }
+
         // pnc预警
         WarningHelper.getPncColor(data.uuid.toString()) {
             if (it.isNotBlank()) {
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
index 9e01274d60..28dedfc7c8 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
@@ -190,4 +190,15 @@ public class DebugConfig {
     public static boolean isMultiDisplay() {
         return isMultiDisplay;
     }
+
+    // 兼容是否支持多屏幕方案
+    private static boolean isCarModelChange = true;
+
+    public static void setCarModelChange(boolean status) {
+        isCarModelChange = status;
+    }
+
+    public static boolean isCarModelChange() {
+        return isCarModelChange;
+    }
 }