diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt
index 84bfc41564..740bb3c03d 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt
@@ -43,6 +43,11 @@ class BusConst {
         const val LOOP_PERIOD_1S = 1 * 1000L
         const val LOOP_DELAY = 100L
 
+        // 下发给MEC轨迹信息间隔时间 10秒
+        const val LOOP_PERIOD_10S = 10 *  1000L
+        // 尝试下发给MEC轨迹最多10次
+        const val LOOP_SEND_TRAJ_TIMES = 10
+
         //起点UUID
         const val BUS_START_MAP_MAKER = "bus_start_map_maker";
         //终点UUID
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index c75245dd8a..e6131730d5 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -43,7 +43,9 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.constants.DataTypes;
 import com.mogo.module.common.view.OnPreventFastClickListener;
 import com.mogo.och.bus.R;
+import com.mogo.och.bus.bean.BusRoutesResult;
 import com.mogo.och.bus.constant.BusConst;
+import com.mogo.och.bus.model.BusOrderModel;
 import com.mogo.och.bus.util.BDRouteDataTestUtils;
 import com.mogo.och.bus.view.BusArcView;
 import com.mogo.och.bus.view.SlidePanelView;
@@ -71,6 +73,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     public boolean isOperationStatus;//false-收车，true-出车
     private FrameLayout flStationPanelContainer;
     private Group groupTestPanel;
+    private View busTestBar;
     private FrameLayout flSpeed;
     private BusArcView mouduleArc;
     private ImageView mUpgradeTipIv;
@@ -106,6 +109,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     @Override
     protected void initViews() {
         groupTestPanel = findViewById(R.id.groupTestPanel);
+        busTestBar = findViewById(R.id.module_mogo_och_bus_test_bar);
         slidePanelView = findViewById(R.id.module_mogo_och_slide_panel);
         ctvAutopilotStatus = findViewById(R.id.module_mogo_och_autopilot_status);
         ctvAutopilotStatusIv = findViewById(R.id.bus_autopilot_btn_iv);
@@ -510,4 +514,24 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             groupTestPanel.setVisibility(View.VISIBLE);
         }
     }
+
+    /**
+     * bus testBar开关
+     */
+    public void showHideTestBar() {
+        if (busTestBar.getVisibility() == View.VISIBLE) {
+            busTestBar.setVisibility(View.GONE);
+        } else {
+            BusRoutesResult routesResult = BusOrderModel.getInstance().getBusRoutesResult();
+            if (routesResult != null) {
+                TextView lineIdTV = findViewById(R.id.bus_test_bar_current_line_id);
+                TextView trajMd5TV = findViewById(R.id.bus_test_bar_current_traj_md5);
+                TextView stopMd5TV = findViewById(R.id.bus_test_bar_current_stop_md5);
+                lineIdTV.setText("lineId:" + (routesResult == null ? "" : String.valueOf(routesResult.getLineId())));
+                trajMd5TV.setText("TMd5:" + (routesResult == null ? "" : routesResult.csvFileMd5));
+                stopMd5TV.setText("SMd5:" + (routesResult == null ? "" : routesResult.txtFileMd5));
+            }
+            busTestBar.setVisibility(View.VISIBLE);
+        }
+    }
 }
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
index d9c488eb18..3e5997bd6d 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
@@ -84,6 +84,7 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
             //debug下调用测试面板
             mCurrentStationName.setOnLongClickListener(v -> {
                 debugTestBar();
+                showHideTestBar();
                 return true;
             });
         }
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index f82ab6af69..dfefe1f3bf 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -23,12 +23,9 @@ import com.mogo.eagle.core.data.BaseData;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
-import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
-import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
@@ -51,6 +48,7 @@ import com.mogo.och.bus.net.BusServiceManager;
 import com.mogo.och.bus.net.IBusServiceCallback;
 import com.mogo.och.bus.presenter.BusModelLoopManager;
 import com.mogo.och.bus.util.BusAnalyticsManager;
+import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
@@ -612,6 +610,7 @@ public class BusOrderModel {
                 mIsWorking = !mIsWorking;
                 carOperationStatusCallback.changeOperationStatus(isWorking());
                 startOrStopOrderLoop(mIsWorking);
+                BusTrajectoryManager.getInstance().stopTrajReqLoop();
             }
             @Override
             public void onFail(String failMsg) {
@@ -745,6 +744,9 @@ public class BusOrderModel {
         if ( currentStation.isLeaving() && slidePannelHideCallback != null) {
             slidePannelHideCallback.hideSlidePanel();
         }
+
+        //需放在currentStationIndex赋值之后
+        BusTrajectoryManager.getInstance().syncTrajectoryInfo();
     }
 
     /**
@@ -922,4 +924,12 @@ public class BusOrderModel {
         BusAnalyticsManager.getInstance().triggerStartAutopilotEvent(isRestart, send,
                 currentStation.getName(), nextStation.getName(), currentLineId);
     }
+
+    public BusRoutesResult getBusRoutesResult() {
+        return busRoutesResult;
+    }
+
+    public int getCurrentStationIndex() {
+        return currentStationIndex;
+    }
 }
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index b3bbe5a29c..50d19341f9 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -23,6 +23,7 @@ import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
 import com.mogo.och.bus.callback.ISlidePannelHideCallback;
 import com.mogo.och.bus.fragment.BusFragment;
 import com.mogo.och.bus.model.BusOrderModel;
+import com.mogo.och.bus.util.BusTrajectoryManager;
 
 import org.jetbrains.annotations.NotNull;
 
@@ -276,7 +277,7 @@ public class BusPresenter extends Presenter<BusFragment>
 
     @Override
     public void onAutopilotGuardian(MogoReportMsg.MogoReportMessage guardianInfo) {
-
+        BusTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo);
     }
 
     @Override
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
new file mode 100644
index 0000000000..c10ebca345
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
@@ -0,0 +1,186 @@
+package com.mogo.och.bus.util;
+
+import androidx.annotation.Nullable;
+
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
+import com.mogo.och.bus.bean.BusRoutesResult;
+import com.mogo.och.bus.constant.BusConst;
+import com.mogo.och.bus.model.BusOrderModel;
+
+import java.util.concurrent.TimeUnit;
+
+import io.reactivex.Observable;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.schedulers.Schedulers;
+import mogo_msg.MogoReportMsg;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS;
+
+/**
+ * Bus轨迹管理：给MEC下发用于轨迹下载的信息
+ * Created on 2022/6/23
+ */
+public class BusTrajectoryManager {
+    private static final String TAG = BusTrajectoryManager.class.getSimpleName();
+
+    private static final class SingletonHolder {
+        private static final BusTrajectoryManager INSTANCE = new BusTrajectoryManager();
+    }
+
+    public static BusTrajectoryManager getInstance() {
+        return BusTrajectoryManager.SingletonHolder.INSTANCE;
+    }
+
+    private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null;
+    private Disposable mSendReqDisposable = null;
+
+    public BusTrajectoryManager() {
+        mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+                -1, "", "", "", "",
+                0, "");
+    }
+
+    /**
+     * 同步Bus路线信息
+     */
+    public void syncTrajectoryInfo() {
+        BusRoutesResult routesResult = BusOrderModel.getInstance().getBusRoutesResult();
+        if (routesResult != null
+                && BusOrderModel.getInstance().getCurrentStationIndex() == 0
+                && !BusOrderModel.getInstance().isGoingToNextStation()) {
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "syncTrajectoryInfo() start.");
+            startTrajReqLoop();
+        } else {
+            // 无路线信息or当前未在始发站
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "syncTrajectoryInfo() stop.");
+            stopTrajReqLoop();
+        }
+    }
+
+    /**
+     * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
+     * @param guardianInfo
+     */
+    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
+        if (guardianInfo == null || !guardianInfo.hasCode()) return;
+        if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) {
+            // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹开始下载");
+            stopTrajReqLoop();
+        } else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
+            // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载成功");
+            stopTrajReqLoop();
+        } else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
+            // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() " +
+                    "轨迹下载失败，本地无对应轨迹");
+        } else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
+            // 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() " +
+                    "轨迹下载失败，本地有对应轨迹，认为成功");
+        } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) {
+            // 5. 轨迹管理_轨迹下载超时
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载超时");
+        }
+    }
+
+    private void setupAutoPilotLine() {
+        BusRoutesResult routesResult = BusOrderModel.getInstance().getBusRoutesResult();
+        if (routesResult == null) {
+            CallerLogger.INSTANCE.e(M_BUS + TAG,
+                    "setupAutoPilotLine(): routesResult is null.");
+            return;
+        } else {
+            if (mAutoPilotLine == null) {
+                mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(routesResult.getLineId(),
+                        routesResult.csvFileUrl, routesResult.csvFileMd5,
+                        routesResult.txtFileUrl, routesResult.txtFileMd5,
+                        routesResult.contrailSaveTime, routesResult.carModel);
+            } else {
+                mAutoPilotLine.setLineId(routesResult.getLineId());
+                mAutoPilotLine.setTrajUrl(routesResult.csvFileUrl);
+                mAutoPilotLine.setTrajMd5(routesResult.csvFileMd5);
+                mAutoPilotLine.setStopUrl(routesResult.txtFileUrl);
+                mAutoPilotLine.setStopMd5(routesResult.txtFileMd5);
+                mAutoPilotLine.setTimestamp(routesResult.contrailSaveTime);
+                mAutoPilotLine.setVehicleModel(routesResult.carModel);
+            }
+        }
+    }
+
+    private void clearAutoPilotLine() {
+        if (mAutoPilotLine == null) return;
+        mAutoPilotLine.setLineId(-1);
+        mAutoPilotLine.setTrajUrl("");
+        mAutoPilotLine.setTrajMd5("");
+        mAutoPilotLine.setStopUrl("");
+        mAutoPilotLine.setStopMd5("");
+        mAutoPilotLine.setTimestamp(0);
+        mAutoPilotLine.setVehicleModel("");
+    }
+
+    private void startTrajReqLoop() {
+        if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
+            return;
+        }
+        CallerLogger.INSTANCE.d(M_BUS + TAG, "startTrajReqLoop()");
+        setupAutoPilotLine();
+        mSendReqDisposable = Observable.interval(BusConst.LOOP_DELAY,
+                BusConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
+                .map((aLong -> aLong + 1))
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(aLong -> {
+                    if (aLong > BusConst.LOOP_SEND_TRAJ_TIMES) {
+                        stopTrajReqLoop();
+                        return;
+                    }
+                    CallerLogger.INSTANCE.d(M_BUS + TAG, "loop sendTrajectoryReq: " + aLong);
+                    sendTrajectoryReq();
+                });
+    }
+
+    public void stopTrajReqLoop() {
+        if (mSendReqDisposable != null) {
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "stopTrajReqLoop()");
+            mSendReqDisposable.dispose();
+            mSendReqDisposable = null;
+            clearAutoPilotLine();
+        }
+    }
+
+    private void sendTrajectoryReq() {
+        if (mAutoPilotLine == null) {
+            CallerLogger.INSTANCE.e(M_BUS + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
+            return;
+        }
+
+        // TODO: 2022/6/24
+        // test1
+//        mAutoPilotLine.setLineId(148);
+//        mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/e27c20c2da32481021d934c3ef084536/traj_148.csv");
+//        mAutoPilotLine.setTrajMd5("e27c20c2da32481021d934c3ef084536");
+//        mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/6224c9dd2c0e2bd990c6482c0464de45/stop_148.txt");
+//        mAutoPilotLine.setStopMd5("6224c9dd2c0e2bd990c6482c0464de45");
+//        mAutoPilotLine.setTimestamp(1654596000000L); //20220607 18:00
+//        mAutoPilotLine.setVehicleModel("红旗H9");
+
+        // test2
+//        mAutoPilotLine.setLineId(148);
+//        mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/8654497cf918be461a59c7ad8e22920d/traj_148.csv");
+//        mAutoPilotLine.setTrajMd5("8654497cf918be461a59c7ad8e22920d");
+//        mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/1bb098b244922649bf3e7bada0d3950f/stop_148.txt");
+//        mAutoPilotLine.setStopMd5("1bb098b244922649bf3e7bada0d3950f");
+//        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
+//        mAutoPilotLine.setVehicleModel("红旗H9");
+
+        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerLogger.INSTANCE.d(M_BUS + TAG, "sendTrajectoryReq(): "
+                + GsonUtils.toJson(mAutoPilotLine));
+    }
+}
diff --git a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
index 6e5d9df0c7..461842718e 100644
--- a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
@@ -70,6 +70,16 @@
         app:layout_goneMarginTop="@dimen/module_mogo_och_station_panel_container_margin_top_no_call"
         tools:visibility="visible" />
 
+    <include
+        android:id="@+id/module_mogo_och_bus_test_bar"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        layout="@layout/bus_test_bar_view"
+        android:visibility="gone"
+        app:layout_constraintTop_toBottomOf="@id/module_mogo_och_station_panel_container"
+        app:layout_constraintLeft_toLeftOf="@id/module_mogo_och_station_panel_container"
+        tools:visibility="visible"/>
+
     <!--切换地图远近事件 @dimen/module_switch_map -->
         <LinearLayout
             android:id="@+id/bus_switch_model_layout"
diff --git a/OCH/mogo-och-bus/src/main/res/layout/bus_test_bar_view.xml b/OCH/mogo-och-bus/src/main/res/layout/bus_test_bar_view.xml
new file mode 100644
index 0000000000..1c5d8bdf33
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/res/layout/bus_test_bar_view.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:orientation="vertical">
+
+    <TextView
+        android:id="@+id/bus_test_bar_current_line_id"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="@android:color/white"/>
+
+    <TextView
+        android:id="@+id/bus_test_bar_current_traj_md5"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="@android:color/white"/>
+
+    <TextView
+        android:id="@+id/bus_test_bar_current_stop_md5"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:textColor="@android:color/white"/>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/sfv/FrameSurfaceView.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/sfv/FrameSurfaceView.java
index 1503e13f07..08b77de55c 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/sfv/FrameSurfaceView.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/sfv/FrameSurfaceView.java
@@ -394,7 +394,7 @@ public class FrameSurfaceView extends BaseSurfaceView {
         public void run() {
             decodedBitmapByReuse(bitmapIds.get(index), options);
             index++;
-            if (index < bitmapIds.size()) {
+            if (index < bitmapIds.size() && null != handler) {
                 handler.post(this);
             } else {
                 index = 0;
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/bean/TaxiPassengerOrderQueryRespBean.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/bean/TaxiPassengerOrderQueryRespBean.java
index c26eec8f05..0ea164e3bf 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/bean/TaxiPassengerOrderQueryRespBean.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/bean/TaxiPassengerOrderQueryRespBean.java
@@ -50,6 +50,13 @@ public class TaxiPassengerOrderQueryRespBean extends BaseData {
         //订单多少乘客
         public String passengerNum;
 
+        public long lineId = -1; //路线id，默认-1
+        public String csvFileUrl = ""; //轨迹文件下载的cos url，默认“”
+        public String csvFileMd5 = ""; //轨迹文件md5，默认“”
+        public String txtFileUrl = ""; //打点文件下载的cos url，默认“”
+        public String txtFileMd5 = ""; //轨迹文件md5，默认“”
+        public long contrailSaveTime; //上传轨迹完成时间戳ms：用于MEC本地手动导入轨迹验证时不会被云端轨迹覆盖
+        public String carModel = ""; //[optional] 车型号（如红旗H9），默认“”，暂不加入校验逻辑、用于人工排查问题
 
         // !!!接口中暂无此字段，仅用于本地实现逻辑使用：起始站目的站距离km
         public double travelDistance;
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
index 038e27f978..120bf0fae9 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -869,6 +869,15 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
         parameters.endName = PinYinUtil.getPinYinHeadChar(mCurrentOCHOrder.endSiteAddr); // 终点名称拼音首字母大写：科学城C区三号门（KXCCQSHM）
         parameters.startLatLon = new AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon);
         parameters.endLatLon = new AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon);
+
+        if (parameters.autoPilotLine == null) {
+            parameters.autoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+                    mCurrentOCHOrder.lineId,
+                    mCurrentOCHOrder.csvFileUrl, mCurrentOCHOrder.csvFileMd5,
+                    mCurrentOCHOrder.txtFileUrl, mCurrentOCHOrder.txtFileMd5,
+                    mCurrentOCHOrder.contrailSaveTime, mCurrentOCHOrder.carModel);
+        }
+
         CallerAutoPilotManager.INSTANCE.startAutoPilot(parameters);
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG, "start autopilot with parameter: %s"
                 , GsonUtil.jsonFromObject(parameters)
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/network/TaxiPassengerServiceManager.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/network/TaxiPassengerServiceManager.java
index 3fdf208e86..f052794c40 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/network/TaxiPassengerServiceManager.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/network/TaxiPassengerServiceManager.java
@@ -190,7 +190,7 @@ public class TaxiPassengerServiceManager {
             ,TaxiPassengerServiceCallback<TaxiPassengerBaseRespBean> callback){
         mOCHTaxiServiceApi.startServicePilotDone(MoGoAiCloudClientConfig.getInstance().getServiceAppId()
                 ,MoGoAiCloudClientConfig.getInstance().getToken()
-                ,new TaxiPassengerStartReqBean(MoGoAiCloudClientConfig.getInstance().getSn()
+                ,new TaxiPassengerStartReqBean(getDriverAppSn()
                         ,orderNo,loc))
                 .subscribeOn(Schedulers.io())
                 .observeOn(AndroidSchedulers.mainThread())
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
index ced41770c1..7522010791 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
@@ -188,8 +188,8 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
         }
         if (TaxiPassengerOrderStatusEnum.OnTheWayToEnd.getCode() == order.orderStatus){
             runOnUIThread(() ->{
-                mView.showOrHideServingOrderFragment(true);
                 mView.showOrHideStartAutopilotView(false,false);
+                mView.showOrHideServingOrderFragment(true);
             });
             TaxiPassengerModel.getInstance().startOrStopReadyToAutopilotoop(false);
         }
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
index 9627660c52..82b623e706 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerBaseFragment.java
@@ -1,10 +1,10 @@
 package com.mogo.och.taxi.passenger.ui;
 
-import android.animation.ObjectAnimator;
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI_P;
+
 import android.os.Handler;
 import android.os.Looper;
 import android.view.View;
-import android.view.animation.LinearInterpolator;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
 
@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.OverlayViewUtils;
 import com.mogo.map.MogoMapUIController;
 import com.mogo.map.MogoMarkerManager;
@@ -184,9 +185,7 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == status
                     && mPrevAPStatus != status) {
                 // 2. 主动开启自动驾驶中，为2则停止loading，并isStarting = false
-                if ( mStartAutopilotView != null && mStartAutopilotView.get() != null){
-                    mStartAutopilotView.get().startOrStopLoadingAnim(false);
-                }
+                onAutopilotStatusSuccessDone();
             }
             // 3. 其他过程直接更新
             if (mPrevAPStatus != status){
@@ -291,11 +290,15 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
             OverlayViewUtils.showOverlayView(getActivity(),mStartAutopilotView.get());
             updateStartAutopilotBtnStatus(isClickable);
         }else {
+            CallerLogger.INSTANCE.d(M_TAXI_P+" showOrHideStartAutopilotView","mStartAutopilotView = " + mStartAutopilotView);
+            if (mStartAutopilotView != null){
+                CallerLogger.INSTANCE.d(M_TAXI_P+" showOrHideStartAutopilotView","mStartAutopilotView.get() = " + mStartAutopilotView.get());
+            }
             if (mStartAutopilotView == null || mStartAutopilotView.get() == null){
                 return;
             }
             mStartAutopilotView.get().setOnClickStartAutopilotBtnCallback(null);
-            OverlayViewUtils.dismissOverlayView(mStartAutopilotView.get());
+            mStartAutopilotView.get().closeAllAnimsAndView();
         }
     }
 
@@ -306,6 +309,13 @@ public class TaxiPassengerBaseFragment extends MvpFragment<TaxiPassengerBaseFrag
         mStartAutopilotView.get().updateStartAutopilotBtnStatus(isClickable);
     }
 
+    public void onAutopilotStatusSuccessDone(){
+        if (mStartAutopilotView == null || mStartAutopilotView.get() == null){
+            return;
+        }
+        mStartAutopilotView.get().onAutopilotStatusSuccess();
+    }
+
     /**
      * 显示或者隐藏到达乘客站点的洁面
      * ① 取消订单   可有可无
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
index d39f74509e..352a094d8b 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerStartAutopilotView.java
@@ -1,13 +1,17 @@
 package com.mogo.och.taxi.passenger.ui;
 
+import android.annotation.SuppressLint;
 import android.content.Context;
 import android.graphics.drawable.AnimationDrawable;
 import android.view.LayoutInflater;
 import android.view.View;
+import android.widget.Button;
+import android.widget.ImageView;
 import android.widget.RelativeLayout;
 import android.widget.TextView;
 
 import com.elegant.utils.UiThreadHandler;
+import com.mogo.eagle.core.utilcode.util.OverlayViewUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.common.module.wigets.sfv.FrameFinishCallback;
 import com.mogo.och.common.module.wigets.sfv.FrameSurfaceView;
@@ -24,93 +28,15 @@ import java.util.Arrays;
 public class TaxiPassengerStartAutopilotView extends RelativeLayout implements View.OnClickListener {
 
     private TextView mStartAutopilotBtn;
-//    private ImageView mAutopilotStartingImage;
+    private ImageView mAutopilotBtnBg;
+    private ImageView mCloseIV;
     private ITPClickStartAutopilotCallback mClickCallback;
     public boolean isStarting = false;
     private AnimationDrawable mAnimationBtnDrawable;
-    private AnimationDrawable mAnimationStartingDrawable;
     private static final long TIMER_START_AUTOPILOT_INTERVAL = 10 * 1000L;
     private Context mContext;
     private View view;
     private FrameSurfaceView svCarStartingFrame;
-    private FrameSurfaceView svBtnBgFrame;
-    private Integer[] btnBgAnimIds = new Integer[]{
-            R.drawable.image_00000,
-            R.drawable.image_00001,
-            R.drawable.image_00002,
-            R.drawable.image_00003,
-            R.drawable.image_00004,
-            R.drawable.image_00005,
-            R.drawable.image_00006,
-            R.drawable.image_00007,
-            R.drawable.image_00008,
-            R.drawable.image_00009,
-            R.drawable.image_00010,
-            R.drawable.image_00011,
-            R.drawable.image_00012,
-            R.drawable.image_00013,
-            R.drawable.image_00014,
-            R.drawable.image_00015,
-            R.drawable.image_00016,
-            R.drawable.image_00017,
-            R.drawable.image_00018,
-            R.drawable.image_00019,
-            R.drawable.image_00020,
-            R.drawable.image_00021,
-            R.drawable.image_00022,
-            R.drawable.image_00023,
-            R.drawable.image_00024,
-            R.drawable.image_00025,
-            R.drawable.image_00026,
-            R.drawable.image_00027,
-            R.drawable.image_00028,
-            R.drawable.image_00029,
-            R.drawable.image_00030,
-            R.drawable.image_00031,
-            R.drawable.image_00032,
-            R.drawable.image_00033,
-            R.drawable.image_00034,
-            R.drawable.image_00035,
-            R.drawable.image_00036,
-            R.drawable.image_00037,
-            R.drawable.image_00038,
-            R.drawable.image_00039,
-            R.drawable.image_00040,
-            R.drawable.image_00041,
-            R.drawable.image_00042,
-            R.drawable.image_00043,
-            R.drawable.image_00044,
-            R.drawable.image_00045,
-            R.drawable.image_00046,
-            R.drawable.image_00047,
-            R.drawable.image_00048,
-            R.drawable.image_00049,
-            R.drawable.image_00050,
-            R.drawable.image_00051,
-            R.drawable.image_00052,
-            R.drawable.image_00053,
-            R.drawable.image_00054,
-            R.drawable.image_00055,
-            R.drawable.image_00056,
-            R.drawable.image_00057,
-            R.drawable.image_00058,
-            R.drawable.image_00059,
-            R.drawable.image_00060,
-            R.drawable.image_00061,
-            R.drawable.image_00062,
-            R.drawable.image_00063,
-            R.drawable.image_00064,
-            R.drawable.image_00065,
-            R.drawable.image_00066,
-            R.drawable.image_00067,
-            R.drawable.image_00068,
-            R.drawable.image_00069,
-            R.drawable.image_00070,
-            R.drawable.image_00071,
-            R.drawable.image_00072,
-            R.drawable.image_00073,
-            R.drawable.image_00074
-    };
     private Integer[] startingAnimIds = new Integer[]{
             R.drawable.light_00000,
             R.drawable.light_00001,
@@ -138,15 +64,15 @@ public class TaxiPassengerStartAutopilotView extends RelativeLayout implements V
         view = LayoutInflater.from(context).inflate(R.layout.taxi_p_start_autopilot_view, this,true);
         mStartAutopilotBtn = view.findViewById(R.id.taxi_p_start_autopilot);
         mStartAutopilotBtn.setOnClickListener(this);
-//        mAutopilotStartingImage = view.findViewById(R.id.taxi_p_autopilot_starting);
+
+        mCloseIV = view.findViewById(R.id.starting_autopilot_view_close);
+        mCloseIV.setOnClickListener(this);
+
+        mAutopilotBtnBg = view.findViewById(R.id.taxi_p_autopilot_btn_bg);
+
         svCarStartingFrame = view.findViewById(R.id.taxi_p_autopilot_starting);
         svCarStartingFrame.setBitmapIds(Arrays.asList(startingAnimIds));
         svCarStartingFrame.setDuration(1680);
-
-        svBtnBgFrame = view.findViewById(R.id.taxi_p_start_autopilot_btn_sfv);
-        svBtnBgFrame.setBitmapIds(Arrays.asList(btnBgAnimIds));
-        svBtnBgFrame.setDuration(7500);
-
         svCarStartingFrame.setOnLongClickListener(new OnLongClickListener() {
             @Override
             public boolean onLongClick(View v) {
@@ -172,117 +98,109 @@ public class TaxiPassengerStartAutopilotView extends RelativeLayout implements V
                 startOrStopLoadingAnim(true);
                 if (mClickCallback != null) mClickCallback.onClickCallback();
             }
+        }else if (v.getId() == R.id.starting_autopilot_view_close){
+            OverlayViewUtils.dismissOverlayView(this);
         }
     }
 
+    @SuppressLint("UseCompatLoadingForDrawables")
     public void updateStartAutopilotBtnStatus(boolean isClickable){
 
-        svCarStartingFrame.setBackgroundResource(R.drawable.light_00000);
+        if (svCarStartingFrame != null){
+            svCarStartingFrame.setBackgroundResource(R.drawable.light_00000);
+        }
 
         if (mStartAutopilotBtn == null) return;
-
-        mStartAutopilotBtn.setTag(isClickable);
-        mStartAutopilotBtn.setText(
-                mContext.getResources().getString(R.string.taxi_p_start_autopilot_txt));
-
         if (isClickable){ //高亮可点击状态下UI
             mStartAutopilotBtn.setTextColor(
                     mContext.getResources().getColor(R.color.taxi_p_start_autopilot_txt_color));
             mStartAutopilotBtn.setBackground(null);
+            mAutopilotBtnBg.setBackground(mContext.getResources().getDrawable(R.drawable.anmi_flow));
             startAutopilotBgAnimatorDrawable(true);
         }else {// 置灰色可点击状态下 UI
+            startAutopilotBgAnimatorDrawable(false);
             mStartAutopilotBtn.setBackground(
                     mContext.getResources().getDrawable(R.drawable.taxi_p_start_autopilot_txt_btn_bg));
+            mAutopilotBtnBg.setBackground(null);
             mStartAutopilotBtn.setTextColor(
                     mContext.getResources().getColor(R.color.taxi_p_start_autopilot_txt_un_color));
-            startAutopilotBgAnimatorDrawable(false);
         }
+        mStartAutopilotBtn.setTag(isClickable);
+        mStartAutopilotBtn.setText(
+                mContext.getResources().getString(R.string.taxi_p_start_autopilot_txt));
+
     }
 
     public void startAutopilotBgAnimatorDrawable(boolean isStart){
+
         if (isStart){
-            svBtnBgFrame.setRepeatTimes(-1);
-            svBtnBgFrame.setFrameFinishCallback(new FrameFinishCallback() {
-                @Override
-                public void onFinishCallback() {
-//                    svBtnBgFrame.setBackgroundResource(R.drawable.image_00000);
-                }
-            });
-            svBtnBgFrame.start();
+            if (mAnimationBtnDrawable == null) {
+                mAnimationBtnDrawable = (AnimationDrawable) mAutopilotBtnBg.getBackground();
+            }
+            if (mAnimationBtnDrawable.isRunning()) {
+                return;
+            }
+            mAnimationBtnDrawable.selectDrawable(0);
+            mAnimationBtnDrawable.start();
         }else {
-            svBtnBgFrame.reset();
-            svBtnBgFrame.setBackground(null);
+            clearBgAnimDrawable();
         }
-        //        if (isStart){
-//            if (mAnimationBtnDrawable == null) {
-//                mAnimationBtnDrawable = (AnimationDrawable) mStartAutopilotBtn.getBackground();
-//            }
-//            if (mAnimationBtnDrawable.isRunning()) {
-//                return;
-//            }
-//            mAnimationBtnDrawable.selectDrawable(0);
-//            mAnimationBtnDrawable.start();
-//        }else {
-//            if (mAnimationBtnDrawable != null) {
-//                mAnimationBtnDrawable.stop();
-//            }
-//            mAnimationBtnDrawable = null;
-//        }
     }
 
     private void startingCarBgAnimatorDrawable(boolean isStart){
-        if (isStart){
+        if (isStart && svCarStartingFrame != null){
             svCarStartingFrame.setRepeatTimes(-1);
-            svCarStartingFrame.setFrameFinishCallback(new FrameFinishCallback() {
-                @Override
-                public void onFinishCallback() {
-                }
-            });
             svCarStartingFrame.setBackground(null);
             svCarStartingFrame.start();
         }else {
-            svCarStartingFrame.reset();
-            svCarStartingFrame.setBackgroundResource(R.drawable.light_00000);
+            if (svCarStartingFrame != null){
+                svCarStartingFrame.reset();
+                svCarStartingFrame.setBackgroundResource(R.drawable.light_00000);
+            }
         }
 
-//        if (isStart){
-//            if (mAnimationStartingDrawable == null) {
-//                mAnimationStartingDrawable = (AnimationDrawable) mAutopilotStartingImage.getBackground();
-//            }
-//            if (mAnimationStartingDrawable.isRunning()) {
-//                return;
-//            }
-//            mAnimationStartingDrawable.selectDrawable(0);
-//            mAnimationStartingDrawable.start();
-//        }else {
-//            if (mAnimationStartingDrawable != null) {
-//                mAnimationStartingDrawable.selectDrawable(0);
-//                mAnimationStartingDrawable.stop();
-//            }
-//            mAnimationStartingDrawable = null;
-//        }
     }
 
     public void startOrStopLoadingAnim(boolean start) {
+
         startingCarBgAnimatorDrawable(start);
+
         if (start) {
             isStarting = true;
-
             mStartAutopilotBtn.setText(getResources().getString(R.string.taxi_p_start_autopilot_loading));
             mStartAutopilotBtn.setTextColor(getResources().getColor(R.color.taxi_p_start_autopilot_txt_color));
 
             startingAutopilotCountDown();
         } else {
+            clearBgAnimDrawable();
             isStarting = false;
             updateStartAutopilotBtnStatus(true);
         }
     }
 
-    public void onAutopilotStatusSuccess(){
-        startOrStopLoadingAnim(false);
+    public void clearBgAnimDrawable() {
+        if (mAnimationBtnDrawable != null) {
+            mAnimationBtnDrawable.stop();
+        }
+        mAnimationBtnDrawable = null;
     }
 
-    public void onAutopilotStatusFailure(){
+    public void closeAllAnimsAndView(){
+        clearStartingAnimFrame();
+        if (mAnimationBtnDrawable != null) {
+            mAnimationBtnDrawable.stop();
+        }
+        isStarting = false;
+        OverlayViewUtils.dismissOverlayView(this);
+    }
+
+    public void clearStartingAnimFrame(){
+        if (svCarStartingFrame != null){
+            svCarStartingFrame.destroy();
+        }
+        svCarStartingFrame = null;
+    }
+    public void onAutopilotStatusSuccess(){
         startOrStopLoadingAnim(false);
     }
 
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00000.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00000.png
old mode 100644
new mode 100755
index f989ccf060..0ad2621e6b
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00000.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00000.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00001.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00001.png
old mode 100644
new mode 100755
index cb1d58d997..0d8e3c3989
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00001.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00001.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00002.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00002.png
old mode 100644
new mode 100755
index 6f7458fc19..8602abbafc
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00002.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00002.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00003.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00003.png
old mode 100644
new mode 100755
index c9bf2d690f..22c9992bb7
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00003.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00003.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00004.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00004.png
old mode 100644
new mode 100755
index 1265d4c5d4..d78e7903cf
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00004.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00004.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00005.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00005.png
old mode 100644
new mode 100755
index e3c2a48509..df0880018b
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00005.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00005.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00006.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00006.png
old mode 100644
new mode 100755
index a14cc77e7c..6097678fd4
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00006.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00006.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00007.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00007.png
old mode 100644
new mode 100755
index 7371fb9b6c..dbc1777731
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00007.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00007.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00008.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00008.png
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diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00062.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00062.png
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diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00063.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00063.png
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diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00064.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00064.png
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diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00067.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00067.png
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diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00073.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00073.png
old mode 100644
new mode 100755
index f4670bc002..c2f4531112
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diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00074.png b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00074.png
old mode 100644
new mode 100755
index 56ad547bbd..7dfe7826aa
Binary files a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00074.png and b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/image_00074.png differ
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/taxi_p_start_autopilot_txt_btn_bg.xml b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/taxi_p_start_autopilot_txt_btn_bg.xml
index 6e6e5b6729..dc7ba06b43 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/drawable/taxi_p_start_autopilot_txt_btn_bg.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/drawable/taxi_p_start_autopilot_txt_btn_bg.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <shape xmlns:android="http://schemas.android.com/apk/res/android"
     android:shape="rectangle">
-    <size android:width="520px" android:height="150px"/>
             <corners android:radius="76px"/>
             <gradient
                 android:angle="180"
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
index 56c052eb7b..cb23e927ce 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
@@ -4,38 +4,49 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    tools:ignore="MissingDefaultResource"
-    android:background="@drawable/taxi_p_passenger_start_panel_bg">
+    android:background="@drawable/taxi_p_passenger_start_panel_bg"
+    tools:ignore="MissingDefaultResource">
 
     <com.mogo.och.common.module.wigets.sfv.FrameSurfaceView
-            android:id="@+id/taxi_p_autopilot_starting"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_gravity="center_horizontal"
-            app:layout_constraintLeft_toLeftOf="parent"
-            app:layout_constraintTop_toTopOf="parent"/>
+        android:id="@+id/taxi_p_autopilot_starting"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_gravity="center_horizontal"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
 
-    <com.mogo.och.common.module.wigets.sfv.FrameSurfaceView
-        android:id="@+id/taxi_p_start_autopilot_btn_sfv"
+    <ImageView
+        android:id="@+id/starting_autopilot_view_close"
+        app:layout_constraintTop_toTopOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        android:src="@drawable/taxi_p_passenger_arrived_close"
+        android:layout_marginEnd="@dimen/dp_70"
+        android:layout_marginTop="@dimen/dp_140"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
+    <ImageView
+        android:id="@+id/taxi_p_autopilot_btn_bg"
         android:layout_width="1000px"
         android:layout_height="500px"
         android:clickable="false"
-        android:elevation="1dp"
+        app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"/>
-        <TextView
-            android:id="@+id/taxi_p_start_autopilot"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:gravity="center"
-            android:text="@string/taxi_p_start_autopilot_txt"
-            android:textSize="@dimen/taxi_p_start_autopilot_txt_size"
-            android:textStyle="bold"
-            android:textColor="@color/taxi_p_start_autopilot_txt_un_color"
-            android:elevation="5dp"
-            app:layout_constraintLeft_toLeftOf="@+id/taxi_p_start_autopilot_btn_sfv"
-            app:layout_constraintRight_toRightOf="@+id/taxi_p_start_autopilot_btn_sfv"
-            app:layout_constraintTop_toTopOf="@+id/taxi_p_start_autopilot_btn_sfv"
-            app:layout_constraintBottom_toBottomOf="@+id/taxi_p_start_autopilot_btn_sfv"/>
+        app:layout_constraintRight_toRightOf="parent" />
+
+    <TextView
+        android:id="@+id/taxi_p_start_autopilot"
+        android:layout_width="@dimen/taxi_p_start_autopilot_btn_width"
+        android:layout_height="@dimen/taxi_p_start_autopilot_btn_height"
+        android:gravity="center"
+        android:text="@string/taxi_p_start_autopilot_txt"
+        android:textColor="@color/taxi_p_start_autopilot_txt_color"
+        android:textSize="@dimen/taxi_p_start_autopilot_txt_size"
+        android:textStyle="bold"
+        android:background="@drawable/taxi_p_start_autopilot_txt_btn_bg"
+        app:layout_constraintBottom_toBottomOf="@+id/taxi_p_autopilot_btn_bg"
+        app:layout_constraintLeft_toLeftOf="@+id/taxi_p_autopilot_btn_bg"
+        app:layout_constraintRight_toRightOf="@+id/taxi_p_autopilot_btn_bg"
+        app:layout_constraintTop_toTopOf="@+id/taxi_p_autopilot_btn_bg"/>
+
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/values-sw320dp/dimens.xml b/OCH/mogo-och-taxi-passenger/src/main/res/values-sw320dp/dimens.xml
index 5b26b8687b..e7c921b084 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/values-sw320dp/dimens.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/values-sw320dp/dimens.xml
@@ -63,6 +63,6 @@
     <dimen name="taxi_p_route_txt_unit_size">28px</dimen>
 
     <dimen name="taxi_p_start_autopilot_txt_size">52px</dimen>
-    <dimen name="taxi_p_start_autopilot_btn_width">1000px</dimen>
-    <dimen name="taxi_p_start_autopilot_btn_height">500px</dimen>
+    <dimen name="taxi_p_start_autopilot_btn_width">520px</dimen>
+    <dimen name="taxi_p_start_autopilot_btn_height">150px</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/values-xhdpi-2560x1440/dimens.xml b/OCH/mogo-och-taxi-passenger/src/main/res/values-xhdpi-2560x1440/dimens.xml
index b1e2c1dd14..5b3282e466 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -126,7 +126,7 @@
     <dimen name="taxi_p_route_txt_unit_size">28px</dimen>
 
     <dimen name="taxi_p_start_autopilot_txt_size">52px</dimen>
-    <dimen name="taxi_p_start_autopilot_btn_width">1000px</dimen>
-    <dimen name="taxi_p_start_autopilot_btn_height">500px</dimen>
+    <dimen name="taxi_p_start_autopilot_btn_width">520px</dimen>
+    <dimen name="taxi_p_start_autopilot_btn_height">150px</dimen>
 
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi-passenger/src/main/res/values/dimens.xml b/OCH/mogo-och-taxi-passenger/src/main/res/values/dimens.xml
index a453e6d3b3..8218eb8018 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/res/values/dimens.xml
+++ b/OCH/mogo-och-taxi-passenger/src/main/res/values/dimens.xml
@@ -121,6 +121,6 @@
     <dimen name="taxi_p_route_txt_unit_size">28px</dimen>
 
     <dimen name="taxi_p_start_autopilot_txt_size">52px</dimen>
-    <dimen name="taxi_p_start_autopilot_btn_width">1000px</dimen>
-    <dimen name="taxi_p_start_autopilot_btn_height">500px</dimen>
+    <dimen name="taxi_p_start_autopilot_btn_width">520px</dimen>
+    <dimen name="taxi_p_start_autopilot_btn_height">150px</dimen>
 </resources>
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
index cb619918eb..845e5bb961 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
@@ -38,6 +38,11 @@ class TaxiConst {
         const val LOOP_PERIOD_1S = 1 * 1000L
         const val LOOP_DELAY = 100L
 
+        // 下发给MEC轨迹信息间隔时间 10秒
+        const val LOOP_PERIOD_10S = 10 *  1000L
+        // 尝试下发给MEC轨迹最多10次
+        const val LOOP_SEND_TRAJ_TIMES = 10
+
         // 订单信息
         const val SP_KEY_OCH_TAXI_ORDER = "SP_KEY_OCH_TAXI_ORDER"
 
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index ef85f1b00f..f267c8125d 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -63,6 +63,7 @@ import com.mogo.och.taxi.network.TaxiServiceManager;
 import com.mogo.och.taxi.utils.TaxiAnalyticsManager;
 import com.mogo.och.taxi.utils.OrderUtil;
 import com.mogo.aicloud.services.socket.IMogoLifecycleListener;
+import com.mogo.och.taxi.utils.TaxiTrajectoryManager;
 import com.mogo.service.intent.IMogoIntentListener;
 import com.mogo.service.statusmanager.IMogoStatusChangedListener;
 import com.mogo.service.statusmanager.StatusDescriptor;
@@ -262,7 +263,6 @@ public class TaxiModel {
                             //更新view
                             CallerLogger.INSTANCE.d(M_TAXI + TAG, "changeCarStatus:" + mOCHCarStatus);
                             startOrStopOrderLoop(mOCHCarStatus == 1);
-                            queryAutopilotStatus(mOCHCarStatus == 1);
                             String role = "";
                             if (TaxiDriverRoleEnum.DEMO.getCode() == data.data.purpose) {
                                 role = TaxiConst.DEMO_USER;
@@ -822,6 +822,7 @@ public class TaxiModel {
             return;
         }
         mCurrentOCHOrder = data;
+        TaxiTrajectoryManager.getInstance().syncTrajectoryInfo();
         SharedPrefsMgr.getInstance(mContext).putString(TaxiConst.SP_KEY_OCH_TAXI_ORDER,
                 GsonUtil.jsonFromObject(data));
         if (FunctionBuildConfig.isDemoMode
@@ -835,6 +836,7 @@ public class TaxiModel {
     //清除订单信息
     public void clearCurrentOCHOrder() {
         mCurrentOCHOrder = null;
+        TaxiTrajectoryManager.getInstance().syncTrajectoryInfo();
         SharedPrefsMgr.getInstance(mContext).remove(TaxiConst.SP_KEY_OCH_TAXI_ORDER);
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
@@ -1064,7 +1066,7 @@ public class TaxiModel {
 
         @Override
         public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
-
+            TaxiTrajectoryManager.getInstance().onAutopilotGuardian(guardianInfo);
         }
 
         @Override
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index 58b2927aef..58d80c572c 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -205,9 +205,14 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     @Override
     public void onCurrentOrderStatusChanged(OrderQueryRespBean.Result order) {
         CallerLogger.INSTANCE.d(M_TAXI + TAG,"order = "+order.toString());
+        if (TaxiOrderStatusEnum.UserArriveAtStart.getCode() == order.orderStatus){
+            TaxiModel.getInstance().queryAutopilotStatus(true);
+        }
+
         if (TaxiOrderStatusEnum.OnTheWayToEnd.getCode() == order.orderStatus){
             TaxiModel.getInstance().startDynamicCalculateRouteInfo();
         }
+
         if (TaxiOrderStatusEnum.ArriveAtEnd.getCode() == order.orderStatus ||
             TaxiOrderStatusEnum.Cancel.getCode() == order.orderStatus ||
             TaxiOrderStatusEnum.JourneyCompleted.getCode() == order.orderStatus){
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
index 47de505c5e..093b10cccf 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -379,13 +379,15 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
             testBar.setVisibility(View.GONE);
         } else {
             TextView testCurOrderId = findViewById(R.id.test_bar_current_order_id);
-            TextView testCurStartName = findViewById(R.id.test_bar_current_start_name);
-            TextView testCurEndName = findViewById(R.id.test_bar_current_end_name);
+            TextView testCurLineId = findViewById(R.id.test_bar_current_line_id);
+            TextView testCurTrajMd5 = findViewById(R.id.test_bar_current_traj_md5);
+            TextView testCurStopMd5 = findViewById(R.id.test_bar_current_stop_md5);
             OrderQueryRespBean.Result order = TaxiModel.getInstance().getCurrentOCHOrder();
 
-            testCurOrderId.setText(order == null ? "" : String.valueOf(order.orderNo));
-            testCurStartName.setText(order == null ? "" : PinYinUtil.getPinYinHeadChar(order.startSiteAddr));
-            testCurEndName.setText(order == null ? "" : PinYinUtil.getPinYinHeadChar(order.endSiteAddr));
+            testCurOrderId.setText("orderNo:" + (order == null ? "" : String.valueOf(order.orderNo)));
+            testCurLineId.setText("lineId:" + (order == null ? "" : String.valueOf(order.lineId)));
+            testCurTrajMd5.setText("TMd5:" + (order == null ? "" : order.csvFileMd5));
+            testCurStopMd5.setText("SMd5:" + (order == null ? "" : order.txtFileMd5));
 
             testBar.setVisibility(View.VISIBLE);
         }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
new file mode 100644
index 0000000000..7f34aa40f1
--- /dev/null
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
@@ -0,0 +1,183 @@
+package com.mogo.och.taxi.utils;
+
+import androidx.annotation.Nullable;
+
+import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.GsonUtils;
+import com.mogo.och.taxi.bean.OrderQueryRespBean;
+import com.mogo.och.taxi.constant.TaxiConst;
+import com.mogo.och.taxi.constant.TaxiOrderStatusEnum;
+import com.mogo.och.taxi.model.TaxiModel;
+
+import java.util.concurrent.TimeUnit;
+
+import io.reactivex.Observable;
+import io.reactivex.android.schedulers.AndroidSchedulers;
+import io.reactivex.disposables.Disposable;
+import io.reactivex.schedulers.Schedulers;
+import mogo_msg.MogoReportMsg;
+
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
+
+/**
+ * Taxi轨迹管理：给MEC下发用于轨迹下载的信息
+ * Created on 2022/6/22
+ */
+public class TaxiTrajectoryManager {
+    private static final String TAG = TaxiTrajectoryManager.class.getSimpleName();
+
+    private static final class SingletonHolder {
+        private static final TaxiTrajectoryManager INSTANCE = new TaxiTrajectoryManager();
+    }
+
+    public static TaxiTrajectoryManager getInstance() {
+        return TaxiTrajectoryManager.SingletonHolder.INSTANCE;
+    }
+
+    private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null;
+    private Disposable mSendReqDisposable = null;
+
+    public TaxiTrajectoryManager() {
+        mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(
+                -1, "", "", "", "",
+                0, "");
+    }
+
+    /**
+     * 同步订单信息
+     */
+    public void syncTrajectoryInfo() {
+        OrderQueryRespBean.Result orderInfo = TaxiModel.getInstance().getCurrentOCHOrder();
+        if (orderInfo == null || orderInfo.orderStatus >= TaxiOrderStatusEnum.OnTheWayToEnd.getCode()) {
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "syncTrajectoryInfo() stop.");
+            stopTrajReqLoop();
+        } else {
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "syncTrajectoryInfo() start.");
+            startTrajReqLoop();
+        }
+    }
+
+    /**
+     * 接口MEC反馈的常规信息（MAP v2.5.0新增轨迹相关信息）
+     * @param guardianInfo
+     */
+    public void onAutopilotGuardian(@Nullable MogoReportMsg.MogoReportMessage guardianInfo) {
+        if (guardianInfo == null || !guardianInfo.hasCode()) return;
+        if ("ISYS_INIT_TRAJECTORY_START".equals(guardianInfo.getCode())) {
+            // 1. 轨迹管理_轨迹开始下载（本地已有对应轨迹也触发）
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹开始下载");
+            stopTrajReqLoop();
+        } else if ("ISYS_INIT_TRAJECTORY_SUCCESS".equals(guardianInfo.getCode())) {
+            // 2. 轨迹管理_轨迹下载成功（本地已有对应轨迹也触发）
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹下载成功");
+            stopTrajReqLoop();
+        } else if ("ISYS_INIT_TRAJECTORY_FAILURE".equals(guardianInfo.getCode())) {
+            // 3. 轨迹管理_轨迹下载失败，本地无对应轨迹
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() " +
+                    "轨迹下载失败，本地无对应轨迹");
+        } else if ("ISYS_INIT_TRAJECTORY_WARNING".equals(guardianInfo.getCode())) {
+            // 4. 轨迹管理_轨迹下载失败，本地有对应轨迹，认为成功
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() " +
+                    "轨迹下载失败，本地有对应轨迹，认为成功");
+        } else if ("ISYS_INIT_TRAJECTORY_TIMEOUT".equals(guardianInfo.getCode())) {
+            // 5. 轨迹管理_轨迹下载超时
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹下载超时");
+        }
+     }
+
+    private void setupAutoPilotLine() {
+        OrderQueryRespBean.Result order = TaxiModel.getInstance().getCurrentOCHOrder();
+        if (order == null) {
+            CallerLogger.INSTANCE.e(M_TAXI + TAG,
+                    "setupAutoPilotLine(): orderInfo is null.");
+            return;
+        } else {
+            if (mAutoPilotLine == null) {
+                mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(order.lineId,
+                        order.csvFileUrl, order.csvFileMd5, order.txtFileUrl, order.txtFileMd5,
+                        order.contrailSaveTime, order.carModel);
+            } else {
+                mAutoPilotLine.setLineId(order.lineId);
+                mAutoPilotLine.setTrajUrl(order.csvFileUrl);
+                mAutoPilotLine.setTrajMd5(order.csvFileMd5);
+                mAutoPilotLine.setStopUrl(order.txtFileUrl);
+                mAutoPilotLine.setStopMd5(order.txtFileMd5);
+                mAutoPilotLine.setTimestamp(order.contrailSaveTime);
+                mAutoPilotLine.setVehicleModel(order.carModel);
+            }
+        }
+    }
+
+    private void clearAutoPilotLine() {
+        if (mAutoPilotLine == null) return;
+        mAutoPilotLine.setLineId(-1);
+        mAutoPilotLine.setTrajUrl("");
+        mAutoPilotLine.setTrajMd5("");
+        mAutoPilotLine.setStopUrl("");
+        mAutoPilotLine.setStopMd5("");
+        mAutoPilotLine.setTimestamp(0);
+        mAutoPilotLine.setVehicleModel("");
+    }
+
+    private void startTrajReqLoop() {
+        if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
+            return;
+        }
+        CallerLogger.INSTANCE.d(M_TAXI + TAG, "startTrajReqLoop()");
+        setupAutoPilotLine();
+        mSendReqDisposable = Observable.interval(TaxiConst.LOOP_DELAY,
+                TaxiConst.LOOP_PERIOD_10S, TimeUnit.MILLISECONDS)
+                .map((aLong -> aLong + 1))
+                .subscribeOn(Schedulers.io())
+                .observeOn(AndroidSchedulers.mainThread())
+                .subscribe(aLong -> {
+                    if (aLong > TaxiConst.LOOP_SEND_TRAJ_TIMES) {
+                        stopTrajReqLoop();
+                        return;
+                    }
+                    CallerLogger.INSTANCE.d(M_TAXI + TAG, "loop sendTrajectoryReq: " + aLong);
+                    sendTrajectoryReq();
+                });
+    }
+
+    private void stopTrajReqLoop() {
+        if (mSendReqDisposable != null) {
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "stopTrajReqLoop()");
+            mSendReqDisposable.dispose();
+            mSendReqDisposable = null;
+            clearAutoPilotLine();
+        }
+    }
+
+    private void sendTrajectoryReq() {
+        if (mAutoPilotLine == null) {
+            CallerLogger.INSTANCE.e(M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
+            return;
+        }
+
+        // TODO: 2022/6/24
+        // test1
+//        mAutoPilotLine.setLineId(148);
+//        mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/e27c20c2da32481021d934c3ef084536/traj_148.csv");
+//        mAutoPilotLine.setTrajMd5("e27c20c2da32481021d934c3ef084536");
+//        mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/6224c9dd2c0e2bd990c6482c0464de45/stop_148.txt");
+//        mAutoPilotLine.setStopMd5("6224c9dd2c0e2bd990c6482c0464de45");
+//        mAutoPilotLine.setTimestamp(1654596000000L); //20220607 18:00
+//        mAutoPilotLine.setVehicleModel("红旗H9");
+
+        // test2
+//        mAutoPilotLine.setLineId(148);
+//        mAutoPilotLine.setTrajUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/8654497cf918be461a59c7ad8e22920d/traj_148.csv");
+//        mAutoPilotLine.setTrajMd5("8654497cf918be461a59c7ad8e22920d");
+//        mAutoPilotLine.setStopUrl("http://file-qa.zhidaozhixing.com/fileServer/upload/downloadFileStream?key=fileServer/online_car_hailing/1bb098b244922649bf3e7bada0d3950f/stop_148.txt");
+//        mAutoPilotLine.setStopMd5("1bb098b244922649bf3e7bada0d3950f");
+//        mAutoPilotLine.setTimestamp(1654761600000L); //20220609 16:00
+//        mAutoPilotLine.setVehicleModel("红旗H9");
+
+        CallerAutoPilotManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
+        CallerLogger.INSTANCE.d(M_TAXI + TAG, "sendTrajectoryReq(): "
+                + GsonUtils.toJson(mAutoPilotLine));
+    }
+}
diff --git a/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml b/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
index 8b5031b651..7e797f8f4d 100644
--- a/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
+++ b/OCH/mogo-och-taxi/src/main/res/layout/taxi_panel.xml
@@ -29,13 +29,19 @@
             android:textColor="@android:color/white"/>
 
         <TextView
-            android:id="@+id/test_bar_current_start_name"
+            android:id="@+id/test_bar_current_line_id"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:textColor="@android:color/white"/>
 
         <TextView
-            android:id="@+id/test_bar_current_end_name"
+            android:id="@+id/test_bar_current_traj_md5"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"/>
+
+        <TextView
+            android:id="@+id/test_bar_current_stop_md5"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:textColor="@android:color/white"/>
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
index 42b4d0f7fc..22966ce87b 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/ui/MainActivity.java
@@ -43,6 +43,8 @@ import androidx.recyclerview.widget.LinearLayoutManager;
 import androidx.recyclerview.widget.RecyclerView;
 import androidx.recyclerview.widget.SimpleItemAnimator;
 
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.google.protobuf.TextFormat;
 import com.mogo.telematic.MogoProtocolMsg;
 import com.mogo.telematic.NSDNettyManager;
 import com.mogo.telematic.client.listener.NettyClientListener;
@@ -854,6 +856,12 @@ public class MainActivity extends BaseActivity implements OnAdasListener, OnAdas
 
     @Override
     public void onPointCloud(byte[] pointCloud) {
+//        try {
+//            MogoPointCloudOuterClass.MogoPointCloud bean = MogoPointCloudOuterClass.MogoPointCloud.parseFrom(pointCloud);
+//            Log.i("ddd","MogoPointCloud="+ TextFormat.printer().escapingNonAscii(false).printToString(bean));
+//        } catch (InvalidProtocolBufferException e) {
+//            e.printStackTrace();
+//        }
         OriginalPointCloudData base = new OriginalPointCloudData(pointCloud);
         DataDistribution.getInstance().addData(base);
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
index 60561f01d9..fc2546fd69 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/MapPointCloudSubscriber.kt
@@ -46,7 +46,6 @@ class MapPointCloudSubscriber private constructor() : IMoGoSubscriber, IMoGoAuto
                 isDrawPointCloud = true
                 PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
             }
-            PointCloudHelper.setIsDrawPointCloud(true)//打开点云绘制
 
 
             /**
diff --git a/gradle.properties b/gradle.properties
index 5f4228fc7f..26b0016f00 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -82,7 +82,7 @@ MOGO_LOCATION_VERSION=1.4.3.6
 MOGO_TELEMATIC_VERSION=1.4.3.6
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.3.0.2
+MAP_SDK_VERSION=2.3.0.3
 MAP_SDK_OPERATION_VERSION=1.0.13
 # websocket
 WEBSOCKET_VERSION=1.1.7
@@ -164,7 +164,7 @@ MOGO_V2X_SDK_VERSION=1.4.3.6
 # ADAS LIB Maven配置（用于地图部门测试使用，鹰眼项目中使用本地依赖） #
 ADAS_LIB_GROUP=com.zhidao.support.adas
 ADAS_LIB_POM_ARTIFACT_ID=high
-ADAS_LIB_CHILD_VERSION=.0
+ADAS_LIB_CHILD_VERSION=.1
 
 ADAS_DATA_LIB_GROUP=com.zhjt.mogo.adas.data
 ADAS_DATA_LIB_POM_ARTIFACT_ID=adas-data
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 5f12e90f58..9ef634f638 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -308,11 +308,14 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      */
     @Override
     public void onDispatchRaw(String threadName, RawData raw) {
-        //分发点云原始数据
-        if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
-            mAdasListener.onPointCloud(raw.originalData.toByteArray());
-        } else {
-            try {
+        try {
+            //分发点云原始数据
+            if (THREAD_NAME_DISPATCH_POINT_CLOUD.equals(threadName)) {
+                int len = raw.getPackageLengthValue() - raw.getOffsetValue();
+                byte[] bytes = new byte[len];
+                System.arraycopy(raw.originalData.toByteArray(), raw.getOffsetValue(), bytes, 0, len);
+                mAdasListener.onPointCloud(bytes);
+            } else {
                 if (rawUnpack != null) {
                     if (raw.getProtocolStatus() == ProtocolStatus.SUCCEED) {
                         MessagePad.Header header = raw.getHeader();
@@ -327,10 +330,10 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
                         callError(raw.getProtocolStatus(), raw.originalData.toByteArray());
                     }
                 }
-            } catch (Exception e) {
-                callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
-                CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
             }
+        } catch (Exception e) {
+            callError(ProtocolStatus.BUSINESS_DATA_PARSE_FAILED, raw.originalData.toByteArray());
+            CupidLogUtils.e(TAG, "原始数据:" + ByteUtil.byteArrToHex(raw.originalData.toByteArray()), e);
         }
     }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 15e4327228..078ee82b9f 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -100,7 +100,7 @@ public interface OnAdasListener {
     /**
      * 透传的点云数据
      *
-     * @param pointCloud 原始数据 包括Header+pointCloud
+     * @param pointCloud 原始数据 只包含PointCloud数据
      */
     void onPointCloud(byte[] pointCloud);