diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
index a64f44f612..7254e72cd5 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -81,6 +81,7 @@ import mogo.telematics.pad.MessagePad;
 /**
  * 小地图的方向View
  * 监听自动驾驶路径结束,结束高德地图导航
+ *
  * @author donghongyu
  * @date 12/14/20 4:40 PM
  */
@@ -722,11 +723,38 @@ public class SmallMapDirectionView
 
     }
 
-    //自动驾驶状态开启之后返回,真实路径需要确认返回时间
-    //数据返回之后触发路算
+    /**
+     * 根据全路径获取起始点和经停点进行导航路线绘制
+     * 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
+     * 室内某个bag包自动驾驶启动8s后返回
+     */
     @Override
     public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
         List list = globalPathResp.getWayPointsList();
         Log.d(TAG, "adas返回全路径:" + list.toString());
+        int minCount = 2;
+        if (list.size() >= minCount) {
+            Location sLocation = (Location) list.get(0);
+            Location eLocation = (Location) list.get(list.size() - 1);
+            mStartLatlng = new NaviLatLng(sLocation.getLongitude(), sLocation.getLatitude());
+            mEndLatlng = new NaviLatLng(eLocation.getLongitude(), eLocation.getLatitude());
+            sList.add(mStartLatlng);
+            eList.add(mEndLatlng);
+            for (int i = 1; i < list.size() - minCount; i++) {
+                Location wayLoc = (Location) list.get(i);
+                NaviLatLng way = new NaviLatLng(wayLoc.getLongitude(), wayLoc.getLatitude());
+                mWayPointList.add(way);
+            }
+        }
+        int strategy = 0;
+        try {
+            //再次强调，最后一个参数为true时代表多路径，否则代表单路径
+            strategy = mAMapNavi.strategyConvert(true, false, false, false, false);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        Log.d(TAG, "calculateDriveRoute:" + sList.toString() + "," + eList.toString() + "," + mWayPointList.toString());
+        //指定路径绘制导航路线
+        mAMapNavi.calculateDriveRoute(sList, eList, mWayPointList, strategy);
     }
 }