diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
index 22e0e73042..6552a1ff1a 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltMapOverView.kt
@@ -36,6 +36,8 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
     private var mRoutePolylines: Polyline?=null
 //    private val mLineMarkers: MutableList<Marker?> = mutableListOf()
     private var mEndStationMarker: Marker? = null
+    private var mogoDistanceLocationMax: LatLng?=null
+    private var aPointDistanceMax = 0.0F
     private var mFirst: Boolean = false
 
     //清扫车任务地图
@@ -129,11 +131,11 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_236299))
             } else if (weltDataBean.weltDistance < 0) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_c22101))
-            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.01) {
+            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.1) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_4dffa4))
-            } else if (weltDataBean.weltDistance >= 0.010 && weltDataBean.weltDistance < 0.020) {
+            } else if (weltDataBean.weltDistance >= 0.1 && weltDataBean.weltDistance < 0.2) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_ffdd4d))
-            } else if (weltDataBean.weltDistance >= 0.020) {
+            } else if (weltDataBean.weltDistance >= 0.2) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_ff912b))
             }
         }
@@ -153,9 +155,27 @@ class WeltMapOverView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
                 if (mTaskCoordinatesLatLng.size > 0) {
                     //存放经纬度
                     for (i in mTaskCoordinatesLatLng.indices) {
-                        boundsBuilder.include(mTaskCoordinatesLatLng[i])
+                        val latLng = mTaskCoordinatesLatLng[i]
+                        boundsBuilder.include(latLng)
+                        try {
+                            val calculateLineDistance = CoordinateUtils.calculateLineDistance(
+                                latLng.longitude,
+                                latLng.latitude,
+                                currentLatLng.latitude,
+                                currentLatLng.longitude
+                            )
+                            if(calculateLineDistance>aPointDistanceMax){
+                                aPointDistanceMax = calculateLineDistance
+                                mogoDistanceLocationMax = currentLatLng
+                            }
+                        }catch (e:Exception){
+                            CallerLogger.e(TAG,e.stackTrace)
+                        }
                     }
                 }
+                mogoDistanceLocationMax?.let {
+                    boundsBuilder.include(it)
+                }
                 boundsBuilder.include(currentLatLng)
                 mAMap?.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(), 100, 100, 100, 100))
 
diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
index bf9b0a4309..b69e669558 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/view/WeltSmallMapView.kt
@@ -185,11 +185,11 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_236299))
             } else if (weltDataBean.weltDistance < 0) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_c22101))
-            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.010) {
+            } else if (weltDataBean.weltDistance >= 0 && weltDataBean.weltDistance < 0.1) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_4dffa4))
-            } else if (weltDataBean.weltDistance >= 0.010 && weltDataBean.weltDistance < 0.020) {
+            } else if (weltDataBean.weltDistance >= 0.1 && weltDataBean.weltDistance < 0.2) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_ffdd4d))
-            } else if (weltDataBean.weltDistance >= 0.020) {
+            } else if (weltDataBean.weltDistance >= 0.2) {
                 colorList.add(ContextCompat.getColor(context,R.color.sweeper_ff912b))
             }
         }
@@ -291,7 +291,9 @@ class WeltSmallMapView : ConstraintLayout, IMoGoChassisLocationGCJ02Listener {
         for (i in routeList.indices) {
             routeCoordinatesLatLngs.add(LatLng(routeList[i].latitude, routeList[i].longitude))
         }
-        drawRouteListPolyline(routeCoordinatesLatLngs)
+        ThreadUtils.runOnUiThread {
+            drawRouteListPolyline(routeCoordinatesLatLngs)
+        }
     }
 
     private fun drawRouteListPolyline(routeList: MutableList<LatLng>) {
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java
index 0ddf08b2b7..b51e6b82aa 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/TaxiPassengerServingOrderFragment.java
@@ -367,19 +367,19 @@ public class TaxiPassengerServingOrderFragment extends
     private void updateSpeedView(float newSpeed) {
         int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
         CallerLogger.INSTANCE.d(M_TAXI_P + TAG,"mLimitingVelocity = "+mLimitingVelocity);
-        if (mLimitingVelocity > 0 && speed >= mLimitingVelocity) {
-            mTPSpeedTv.setmColorList(new int[]{getResources().getColor(R.color.taxi_p_speed_warn_color1),getResources().getColor(R.color.taxi_p_speed_warn_color2)});
-            mTPSpeedTv.setText(String.valueOf(speed));
-            mTPSpeedTvShadowBg.setText(String.valueOf(speed));
-
-            mSpeedLayoutBg.setImageResource(R.drawable.taxi_p_speed_light_red_bg);
-        } else {
+//        if (mLimitingVelocity > 0 && speed >= mLimitingVelocity) {
+//            mTPSpeedTv.setmColorList(new int[]{getResources().getColor(R.color.taxi_p_speed_warn_color1),getResources().getColor(R.color.taxi_p_speed_warn_color2)});
+//            mTPSpeedTv.setText(String.valueOf(speed));
+//            mTPSpeedTvShadowBg.setText(String.valueOf(speed));
+//
+//            mSpeedLayoutBg.setImageResource(R.drawable.taxi_p_speed_light_red_bg);
+//        } else {
             mTPSpeedTv.setmColorList(new int[]{getResources().getColor(R.color.taxi_p_speed_normal_color1),getResources().getColor(R.color.taxi_p_speed_normal_color2)});
             mTPSpeedTv.setText(String.valueOf(speed));
             mTPSpeedTvShadowBg.setText(String.valueOf(speed));
 
             mSpeedLayoutBg.setImageResource(R.drawable.taxi_p_speed_light_green_bg);
-        }
+//        }
     }
 
     private void runOnUIThread(Runnable executor) {