Merge branch 'dev_robotaxi-d_250603_8.1.0' of gitlab.zhidaoauto.com:SCA/L4HA/AndroidApp/MoGoEagleEye into dev_robotaxi-d_250603_8.1.0

2025-06-18 14:38:31 +08:00
parent d4a420f14b 9177315f99
commit 89ad5ccbaf
80 changed files with 1807 additions and 412 deletions
--- a/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt
+++ b/OCH/charter/passenger/src/main/java/com/mogo/och/charter/passenger/model/CharterPassengerModel.kt
@@ -52,6 +52,7 @@ import com.mogo.och.common.module.manager.socket.lan.LanSocketManager
 import com.mogo.och.common.module.manager.socket.lan.LedScreenManager
 import com.mogo.och.bridge.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.common.module.biz.birdge.BridgeManager
+import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.common.module.utils.PinYinUtil
 import com.mogo.och.common.module.voice.VoiceNotice
@@ -697,7 +698,7 @@ object CharterPassengerModel {
                }

                val lastTime: Double =
-                    lastSumLength / CharterPassengerConst.Charter_AVERAGE_SPEED * 3.6 //秒
+                    lastSumLength / OchCommonConst.Charter_AVERAGE_SPEED * 3.6 //秒

                d(
                    M_BUS_P + "calculateDistance",
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/constant/OchCommonConst.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/constant/OchCommonConst.kt
@@ -71,5 +71,14 @@ class OchCommonConst {
        const val AUTOMATIC_PLANNING_MAX_DISTANCE = 15

        const val ARRIVE_AT_END_STATION_DISTANCE = 10
+
+
+        //b1 b2 平均速度 bus的平均里程：25km/h
+        const val BUS_AVERAGE_SPEED = 25
+
+        //M1的平均里程：15km/h
+        const val Charter_AVERAGE_SPEED = 15
+        //T1T2的平均里程：38km/h
+        const val TAXI_AVERAGE_SPEED = 38
    }
 }
--- a/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/taskrunning/TaskRunningAdapter.kt
+++ b/OCH/shuttle/driver_weaknet/src/main/java/com/mogo/och/weaknet/ui/taskrunning/TaskRunningAdapter.kt
@@ -39,6 +39,7 @@ class TaskRunningAdapter(
    private var totalHeight = 0f

    fun setDataList(dataList: List<BusStationBean>) {
+        CallerLogger.d(TAG,"设置view-----")
        this.mData.clear()
        this.mData.addAll(dataList)
        if (LineModel.startStationIndex == 0) {
@@ -47,7 +48,7 @@ class TaskRunningAdapter(
            totalHeight =
                (halfHeight + (dataList.size - 1 - LineModel.startStationIndex) * heightItem).toFloat()
        }
-        notifyItemRangeChanged(0, dataList.size, true)
+        notifyDataSetChanged()
    }

    override fun onCreateViewHolder(
--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/presenter/PM2ADASPresenter.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/presenter/PM2ADASPresenter.kt
@@ -3,6 +3,7 @@ package com.mogo.och.shuttle.weaknet.passenger.presenter
 import androidx.lifecycle.LifecycleOwner
 import com.amap.api.maps.model.LatLng
 import com.mogo.commons.mvp.Presenter
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.och.common.module.biz.birdge.BridgeListener
@@ -184,41 +185,58 @@ class PM2ADASPresenter(view: PM2HPMapFragment?) :
            if(haveLine){// 有订单
                if(arrived){//展示高德地图
                    if(aiMessageShowmagic){
+                        updateMapFlag(false)
                        // 展示高德地图+展示mogomind
                        mView?.showAmap_mind()
                        return@runInMainThread
                    }else{
+                        updateMapFlag(false)
                        // 展示高德地图
                        mView?.showAmap()
                        return@runInMainThread
                    }
                }else{// 展示高精地图
                    if(aiMessageShowmagic){
+                        updateMapFlag(false)
                        // 展示高精地图
                        mView?.showHDMap_mind()
                        return@runInMainThread
                    }else{
-                        if(havePredictionInfos&&haveTrajectoryInfos){
-                            // 展示高精地图+展示预测和决策
-                            mView?.showHDMap_aip_prediction()
-                            return@runInMainThread
-                        }else{
+//                        if(havePredictionInfos&&haveTrajectoryInfos){
+//                            updateMapFlag(true)
+//                            // 展示高精地图+展示预测和决策
+//                            mView?.showHDMap_aip_prediction()
+//                            return@runInMainThread
+//                        }else{
+                            updateMapFlag(false)
                            // 展示高精地图
                            mView?.showHDMap()
                            return@runInMainThread
-                        }
+//                        }
                    }

                }
            }else{// 没有订单
                if(aiMessageShowmagic){// 有mogomind 消息
+                    updateMapFlag(false)
                    // 展示高精地图+mogoMind
                    mView?.showHDMap_mind()
                }else{
+                    updateMapFlag(false)
                    // 展示高精地图
                    mView?.showHDMap()
                }
            }
        }
    }
+
+    private fun updateMapFlag(open: Boolean) {
+//        if (open) {
+//            FunctionBuildConfig.isDrawDecIdentifyData = true
+//            FunctionBuildConfig.isDrawPreIdentifyData = true
+//        } else {
+//            FunctionBuildConfig.isDrawDecIdentifyData = false
+//            FunctionBuildConfig.isDrawPreIdentifyData = false
+//        }
+    }
 }
--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/line/arrive/ArrivedView.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/line/arrive/ArrivedView.kt
@@ -4,8 +4,10 @@ import android.animation.Animator
 import android.animation.AnimatorListenerAdapter
 import android.animation.ValueAnimator
 import android.content.Context
+import android.graphics.drawable.AnimationDrawable
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -17,6 +19,7 @@ import kotlinx.android.synthetic.main.m2_arrive_view.view.aciv_arrow_left
 import kotlinx.android.synthetic.main.m2_arrive_view.view.aciv_arrow_right
 import kotlinx.android.synthetic.main.m2_arrive_view.view.aciv_door_left
 import kotlinx.android.synthetic.main.m2_arrive_view.view.aciv_door_right
+import kotlinx.android.synthetic.main.m2_arrive_view.view.iv_animal_list
 import kotlinx.android.synthetic.main.m2_arrive_view.view.ochtv_arrive_station_value
 import me.jessyan.autosize.utils.AutoSizeUtils

@@ -95,6 +98,9 @@ class ArrivedView : ConstraintLayout {
            if(!animator.isRunning){
                animator.start()
            }
+            iv_animal_list.visibility = View.VISIBLE
+            val animationDrawable = iv_animal_list.drawable as AnimationDrawable
+            animationDrawable.start()
        }else{
            animator.cancel()
            val paramsLeft = aciv_door_left.layoutParams as LayoutParams
@@ -108,6 +114,10 @@ class ArrivedView : ConstraintLayout {
            aciv_arrow_left.visibility = GONE
            aciv_arrow_right.visibility = GONE
            animatorArrow.cancel()
+
+            iv_animal_list.visibility = View.VISIBLE
+            val animationDrawable = iv_animal_list.drawable as AnimationDrawable
+            animationDrawable.stop()
        }
    }

--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/line/lineinfo/LineView.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/line/lineinfo/LineView.kt
@@ -49,9 +49,7 @@ class LineView : ConstraintLayout, LineViewModel.LineViewCallback {
 //                AutoSizeUtils.dp2px(context,20f)
 //            )
 //        )
-        autoplit_info.onClick {
-            updateRemainMt("12公里","25分钟")
-        }
+
        ll_station_container.setAdapter(mAdapter)

        ll_station_container.itemAnimator?.addDuration = 0;
--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/line/lineinfo/item/StationAdapter.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/line/lineinfo/item/StationAdapter.kt
@@ -49,7 +49,7 @@ class StationAdapter : ListAdapter<BusStationBean, StationViewHolder>(MessageDif
                    newDataList.add(it.first())
                    newDataList.add(StationBeanOmit(currentIndex-1-1))
                    newDataList.addAll(list.slice(currentIndex-1 .. currentIndex+1))
-                    newDataList.add(StationBeanOmit(list.size-currentIndex-1))
+                    newDataList.add(StationBeanOmit(list.size-(currentIndex+3)))// 减去+1 省略 和最后一个
                    newDataList.add(list.last())
                }else{
                    if(showFuluterOmit||showPassOmit){
--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/map/PM2HPMapFragment.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/map/PM2HPMapFragment.kt
@@ -20,8 +20,6 @@ import com.mogo.och.shuttle.weaknet.passenger.constant.M2Const.Companion.TYPE_MA
 import com.mogo.och.shuttle.weaknet.passenger.presenter.PM2ADASPresenter
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import kotlinx.android.synthetic.main.shuttle_p_m2_hpmap_fragment.aciv_top_shader
-import kotlinx.android.synthetic.main.shuttle_p_m2_hpmap_fragment.cl_aip_contain
-import kotlinx.android.synthetic.main.shuttle_p_m2_hpmap_fragment.cl_prediction_contain
 import kotlinx.android.synthetic.main.shuttle_p_m2_hpmap_fragment.mHomeView
 import kotlinx.android.synthetic.main.shuttle_p_m2_hpmap_fragment.mindView
 import kotlinx.android.synthetic.main.shuttle_p_m2_hpmap_fragment.overMapView
@@ -80,33 +78,39 @@ class PM2HPMapFragment :
            it.clipToOutline = true
            it.hideResetView()
        }
+//        cl_prediction_contain.onCreate(savedInstanceState)
    }

    override fun onResume() {
        super.onResume()
        mHomeView.onResume()
        overMapView?.onResume()
+//        cl_prediction_contain.onResume()
    }

    override fun onLowMemory() {
        super.onLowMemory()
        mHomeView.onLowMemory()
+//        cl_prediction_contain.onLowMemory()
    }

    override fun onSaveInstanceState(outState: Bundle) {
        super.onSaveInstanceState(outState)
        mHomeView.onSaveInstanceState(outState)
+//        cl_prediction_contain.onSaveInstanceState(outState)
    }

    override fun onPause() {
        super.onPause()
        mHomeView.onPause()
        overMapView?.onPause()
+//        cl_prediction_contain.onPause()
    }

    override fun onDestroyView() {
        mHomeView.onDestroy()
        overMapView?.onDestroy()
+//        cl_prediction_contain.onDestroy()
        super.onDestroyView()
    }

@@ -220,8 +224,8 @@ class PM2HPMapFragment :

        aciv_top_shader.visibility = View.GONE

-        cl_aip_contain.visibility = View.GONE
-        cl_prediction_contain.visibility = View.GONE
+//        cl_aip_contain.visibility = View.GONE
+//        cl_prediction_contain.visibility = View.GONE

        mindView.visibility = View.GONE
        overMapView.visibility = View.GONE
@@ -231,8 +235,8 @@ class PM2HPMapFragment :
        mHomeView.visibility = View.GONE
        aciv_top_shader.visibility = View.GONE

-        cl_aip_contain.visibility = View.GONE
-        cl_prediction_contain.visibility = View.GONE
+//        cl_aip_contain.visibility = View.GONE
+//        cl_prediction_contain.visibility = View.GONE

        mindView.visibility = View.GONE
        overMapView.visibility = View.VISIBLE
@@ -250,8 +254,8 @@ class PM2HPMapFragment :

        aciv_top_shader.visibility = View.VISIBLE

-        cl_aip_contain.visibility = View.GONE
-        cl_prediction_contain.visibility = View.GONE
+//        cl_aip_contain.visibility = View.GONE
+//        cl_prediction_contain.visibility = View.GONE

        mindView.visibility = View.VISIBLE
        overMapView.visibility = View.GONE
@@ -265,8 +269,8 @@ class PM2HPMapFragment :

        aciv_top_shader.visibility = View.VISIBLE

-        cl_aip_contain.visibility = View.VISIBLE
-        cl_prediction_contain.visibility = View.VISIBLE
+//        cl_aip_contain.visibility = View.VISIBLE
+//        cl_prediction_contain.visibility = View.VISIBLE

        mindView.visibility = View.GONE
        overMapView.visibility = View.GONE
@@ -277,8 +281,8 @@ class PM2HPMapFragment :

        aciv_top_shader.visibility = View.VISIBLE

-        cl_aip_contain.visibility = View.GONE
-        cl_prediction_contain.visibility = View.GONE
+//        cl_aip_contain.visibility = View.GONE
+//        cl_prediction_contain.visibility = View.GONE

        mindView.visibility = View.VISIBLE

--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AIMessageAdapter.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AIMessageAdapter.kt
@@ -19,11 +19,11 @@ class AIMessageAdapter : ListAdapter<AIMessage, MessageViewHolder>(MessageDiffCa
    override fun onCreateViewHolder(parent: ViewGroup, viewType: Int): MessageViewHolder {
        val inflater = LayoutInflater.from(parent.context)
        return when (viewType) {
-            AIMessage.TYPE_PNC_ACTION -> PNCActionViewHolder(inflater.inflate(R.layout.item_ai_pnc_action,parent,false))
-            AIMessage.TYPE_ROAD_V2N -> RoadV2NEventViewHolder(inflater.inflate(R.layout.item_ai_road_v2n_event,parent,false))
-            AIMessage.TYPE_ROAD_CROSS -> RoadCrossRoamViewHolder(inflater.inflate(R.layout.item_ai_road_cross_roam,parent,false))// 全息路口
-            AIMessage.TYPE_AUTOMATIC_EXPLORATION -> AutomaticExplorationViewHolder(inflater.inflate(R.layout.item_ai_automatic_exploration,parent,false))// 探查
-            AIMessage.TYPE_NDE -> NDEViewHolder(inflater.inflate(R.layout.item_ai_nde_event,parent,false))// 车龙
+            AIMessage.TYPE_PNC_ACTION -> PNCActionViewHolder(inflater.inflate(R.layout.b2_item_ai_pnc_action,parent,false))
+            AIMessage.TYPE_ROAD_V2N -> RoadV2NEventViewHolder(inflater.inflate(R.layout.b2_item_ai_road_v2n_event,parent,false))
+            AIMessage.TYPE_ROAD_CROSS -> RoadCrossRoamViewHolder(inflater.inflate(R.layout.b2_item_ai_road_cross_roam,parent,false))// 全息路口
+            AIMessage.TYPE_AUTOMATIC_EXPLORATION -> AutomaticExplorationViewHolder(inflater.inflate(R.layout.b2_item_ai_automatic_exploration,parent,false))// 探查
+            AIMessage.TYPE_NDE -> NDEViewHolder(inflater.inflate(R.layout.b2_item_ai_nde_event,parent,false))// 车龙
            else -> throw IllegalArgumentException("Invalid view type")
        }
    }
--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AIMessageViewHolder.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/mind/adapter/AIMessageViewHolder.kt
@@ -144,17 +144,6 @@ class RoadCrossRoamViewHolder(binding: View) : MessageViewHolder(binding){
    override fun bind(item: AIMessage, onItemClickListener: OnItemClickListener?) {
        if(item is AIMessage.RoadCrossRoam){
            lvRoadCrossRoamTip.layoutManager = NoScrollLayoutManager(itemView.context)
-//            lvRoadCrossRoamTip.addItemDecoration(object : RecyclerView.ItemDecoration() {
-//                override fun getItemOffsets(
-//                    outRect: Rect,
-//                    view: View,
-//                    parent: RecyclerView,
-//                    state: RecyclerView.State
-//                ) {
-//                    super.getItemOffsets(outRect, view, parent, state)
-//                    outRect.bottom = 24
-//                }
-//            })
            lvRoadCrossRoamTip.adapter = RoadCrossRoamListB2Adapter(itemView.context)
            tvRoadRoamTitle.setTextColor(itemView.context.getColor(R.color.color_131415))

--- a/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/statusbar/M2StatusBarView.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/b2/com/mogo/och/shuttle/weaknet/passenger/ui/statusbar/M2StatusBarView.kt
@@ -9,6 +9,7 @@ import androidx.constraintlayout.widget.ConstraintLayout
 import chassis.ChassisStatesOuterClass
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
+import com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugView
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.util.ClickUtils
@@ -47,6 +48,12 @@ class M2StatusBarView @JvmOverloads constructor(
        setBackgroundColor(ResourcesUtils.getColor(R.color.white))
        isClickable = true
        isFocusable = true
+        iv_logon.setOnLongClickListener {
+            context?.let {
+                ToggleDebugView.toggleDebugView.toggle(it)
+            }
+            true
+        }
    }


@@ -69,19 +76,13 @@ class M2StatusBarView @JvmOverloads constructor(
        tv_power_cos?.also {
            it.text = "?"
        }
-        iv_logon.onClick {
-            BizLoopManager.runInMainThread{
-                BleManager.scanLeDevice()
-            }
-        }
+
        tv_power_cos.onClick {
            BizLoopManager.runInIoThread {
                BleManager.sendData2Wx("1889480", "00,${System.currentTimeMillis()}")
            }
        }
-        tv_status_line_name.onClick {
-            updateLineInfo("线路名称")
-        }
+
    }

    override fun updateLineInfo(lineName: String?) {
--- a/OCH/shuttle/passenger_weaknet/src/main/java/com/mogo/och/shuttle/weaknet/passenger/model/CommonModel.kt
+++ b/OCH/shuttle/passenger_weaknet/src/main/java/com/mogo/och/shuttle/weaknet/passenger/model/CommonModel.kt
@@ -25,6 +25,7 @@ import com.mogo.och.bridge.autopilot.location.OchLocationManager
 import com.mogo.och.bridge.distance.IDistanceListener
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.biz.birdge.BridgeManager
+import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.manager.download.DownloadManager
 import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager
 import com.mogo.och.common.module.manager.socket.lan.ILanMessageListener
@@ -164,7 +165,7 @@ object CommonModel {

    private val trajectoryListener: IDistanceListener = object : IDistanceListener {
        override fun distanceCallback(distance: Float) {
-            val lastTime = distance / BusPassengerConst.BUS_AVERAGE_SPEED * 3.6 //秒
+            val lastTime = distance / OchCommonConst.BUS_AVERAGE_SPEED * 3.6 //秒
            d(TAG, "轨迹排查==lastSumLength = $distance")
            if (routesResult != null) {
                for (site in routesResult!!.sites) {
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_automatic_exploration.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_automatic_exploration.xml
@@ -34,10 +34,10 @@
    <androidx.recyclerview.widget.RecyclerView
        android:id="@id/rvExplorationList"
        android:layout_width="wrap_content"
-        android:layout_height="@dimen/dp_300"
+        android:layout_height="wrap_content"
        android:layout_marginTop="@dimen/dp_14"
        app:layout_constraintBottom_toBottomOf="parent"
-        android:layout_marginBottom="@dimen/dp_29"
+        android:layout_marginBottom="@dimen/dp_14"
        app:layout_constraintLeft_toLeftOf="@id/tvExplorationTitle"
        app:layout_constraintTop_toBottomOf="@id/tvExplorationTitle" />

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_nde_event.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_nde_event.xml
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_pnc_action.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_pnc_action.xml
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_road_cross_roam.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_road_cross_roam.xml
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_road_v2n_event.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/b2_item_ai_road_v2n_event.xml
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_line_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_line_view.xml
@@ -12,6 +12,7 @@
        app:layout_constraintTop_toTopOf="parent"
        app:layout_constraintBottom_toBottomOf="parent"
        app:layout_constraintStart_toStartOf="parent"
+        android:clickable="false"
        app:layout_constraintEnd_toStartOf="@+id/autoplit_info"
        android:layout_marginEnd="@dimen/dp_41"
        android:layout_width="0dp"
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_current_end_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_current_end_view.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:background="@color/b2_95B1D6"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_current_start_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_current_start_view.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:background="@color/b2_95B1D6"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_current_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_current_view.xml
@@ -4,6 +4,7 @@
    xmlns:tools="http://schemas.android.com/tools"
    tools:background="@color/b2_95B1D6"
    android:layout_width="match_parent"
+    android:clickable="false"
    android:layout_height="@dimen/dp_68"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_end_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_end_view.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68">

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_future_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_future_view.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68">

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_pass_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_pass_view.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68">

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_start_view.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_normal_start_view.xml
@@ -4,6 +4,7 @@
    xmlns:tools="http://schemas.android.com/tools"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout"
    android:layout_width="match_parent"
+    android:clickable="false"
    android:layout_height="@dimen/dp_68">

    <View
--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_omit_view_future.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_omit_view_future.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68">

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_omit_view_pass.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/m2_station_omit_view_pass.xml
@@ -3,6 +3,7 @@
    xmlns:app="http://schemas.android.com/apk/res-auto"
    xmlns:tools="http://schemas.android.com/tools"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout"
+    android:clickable="false"
    android:layout_width="match_parent"
    android:layout_height="@dimen/dp_68">

--- a/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/shuttle_p_m2_hpmap_fragment.xml
+++ b/OCH/shuttle/passenger_weaknet/src/main/res/b2/layout/shuttle_p_m2_hpmap_fragment.xml
@@ -51,28 +51,30 @@
            android:layout_width="@dimen/dp_430"
            android:layout_height="@dimen/dp_650"/>

+<!--        <com.mogo.eagle.core.function.view.PredictionLayout-->
+<!--            android:id="@+id/cl_prediction_contain"-->
+<!--            app:layout_constraintTop_toTopOf="parent"-->
+<!--            app:layout_constraintEnd_toEndOf="parent"-->
+<!--            android:visibility="gone"-->
+<!--            android:background="@drawable/b2_aip_bg"-->
+<!--            android:layout_marginTop="@dimen/dp_3"-->
+<!--            android:layout_marginEnd="@dimen/dp_1"-->
+<!--            android:layout_width="@dimen/dp_411"-->
+<!--            android:layout_height="@dimen/dp_332"-->
+<!--            app:car_type="B2" />-->

-        <androidx.constraintlayout.widget.ConstraintLayout
-            android:id="@+id/cl_aip_contain"
-            app:layout_constraintTop_toTopOf="parent"
-            app:layout_constraintEnd_toEndOf="parent"
-            android:visibility="gone"
-            android:background="@drawable/b2_aip_bg"
-            android:layout_marginTop="@dimen/dp_3"
-            android:layout_marginEnd="@dimen/dp_1"
-            android:layout_width="@dimen/dp_411"
-            android:layout_height="@dimen/dp_332"/>
-
-        <androidx.constraintlayout.widget.ConstraintLayout
-            android:id="@+id/cl_prediction_contain"
-            app:layout_constraintBottom_toBottomOf="parent"
-            app:layout_constraintEnd_toEndOf="parent"
-            android:visibility="gone"
-            android:background="@drawable/b2_prediction_bg"
-            android:layout_marginEnd="@dimen/dp_1"
-            android:layout_marginBottom="@dimen/dp_m_1"
-            android:layout_width="@dimen/dp_411"
-            android:layout_height="@dimen/dp_332"/>
+<!--        <com.mogo.eagle.core.function.view.DecisionLayout-->
+<!--            android:id="@+id/cl_aip_contain"-->
+<!--            app:layout_constraintBottom_toBottomOf="parent"-->
+<!--            app:layout_constraintEnd_toEndOf="parent"-->
+<!--            android:visibility="gone"-->
+<!--            android:background="@drawable/b2_prediction_bg"-->
+<!--            android:layout_marginEnd="@dimen/dp_1"-->
+<!--            android:layout_marginBottom="@dimen/dp_m_1"-->
+<!--            android:layout_width="@dimen/dp_411"-->
+<!--            android:layout_height="@dimen/dp_332"-->
+<!--            app:car_type="B2"-->
+<!--            />-->

        <com.mogo.och.shuttle.weaknet.passenger.ui.mind.MindView
            android:id="@+id/mindView"
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/routingrunning/RoutingRunningModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/routingrunning/RoutingRunningModel.kt
@@ -16,6 +16,7 @@ import com.mogo.och.bridge.autopilot.line.ILineCallback
 import com.mogo.och.bridge.autopilot.line.LineManager
 import com.mogo.och.bridge.distance.IDistanceListener
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
+import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.unmanned.taxi.bean.ContrailBean
 import com.mogo.och.unmanned.taxi.bean.EndGrayContrailTaskReq
@@ -91,7 +92,7 @@ class RoutingRunningModel : ViewModel(), IDistanceListener {


    override fun distanceCallback(distance: Float) {
-        val lastTime = distance / TaxiUnmannedConst.TAXI_AVERAGE_SPEED * 3.6 //秒
+        val lastTime = distance / OchCommonConst.TAXI_AVERAGE_SPEED * 3.6 //秒
        this.viewCallback?.showDistance(distance.toLong(),lastTime.toLong())
    }

--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiTaskModel.kt
@@ -56,6 +56,7 @@ import com.mogo.och.bridge.utils.CoordinateCalculateRouteUtil.coordinateConverte
 import com.mogo.och.common.module.biz.birdge.BridgeManager
 import com.mogo.och.common.module.biz.order.IOrderListener
 import com.mogo.och.common.module.biz.order.OrderManager
+import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.common.module.utils.ResourcesUtils
@@ -469,7 +470,7 @@ object TaxiTaskModel {

    private val localCalculateDistanceListener: IDistanceListener = object : IDistanceListener {
        override fun distanceCallback(distance: Float) {
-            val lastTime = distance / TaxiUnmannedConst.TAXI_AVERAGE_SPEED * 3.6 //秒
+            val lastTime = distance / OchCommonConst.TAXI_AVERAGE_SPEED * 3.6 //秒
            d(
                TAG,
                "dynamicCalculateRouteInfo: lastSumLength=$distance, lastTime=$lastTime, threadName=Thread.currentThread().name"
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/TaxiPassengerModel.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/TaxiPassengerModel.kt
@@ -23,6 +23,7 @@ import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManage
 import com.mogo.och.bridge.distance.IDistanceListener
 import com.mogo.och.bridge.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.biz.birdge.BridgeManager
+import com.mogo.och.common.module.constant.OchCommonConst
 import com.mogo.och.common.module.manager.loop.BizLoopManager
 import com.mogo.och.common.module.manager.loop.LoopInfo
 import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
@@ -314,7 +315,7 @@ object TaxiPassengerModel {

        override fun distanceCallback(distance: Float) {

-            val lastTime: Double = distance / TaxiPassengerConst.TAXI_AVERAGE_SPEED * 3.6 //秒
+            val lastTime: Double = distance / OchCommonConst.TAXI_AVERAGE_SPEED * 3.6 //秒

            for (callback in mOrderStatusCallbackMap.values) {
                callback.onCurrentOrderDistToEndChanged(
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/homepage/HomeView.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/homepage/HomeView.kt
@@ -24,6 +24,7 @@ import kotlinx.android.synthetic.main.taxi_p_home.view.lbv_go2_center
 import kotlinx.android.synthetic.main.taxi_p_home.view.leftEndGuideline
 import kotlinx.android.synthetic.main.taxi_p_home.view.midContainer
 import kotlinx.android.synthetic.main.taxi_p_home.view.midStartGuideline
+import kotlinx.android.synthetic.main.taxi_p_home.view.preContainer

 class HomeView @JvmOverloads constructor(
    context: Context,
@@ -87,37 +88,37 @@ class HomeView @JvmOverloads constructor(

    fun onCreate(savedInstanceState: Bundle?) {
        hdMapView.onCreate(savedInstanceState)
-//        preContainer.onCreate(savedInstanceState)
+        preContainer.onCreate(savedInstanceState)
 //        decContainer.onCreate(savedInstanceState)
    }

    fun onSaveInstanceState(outState: Bundle) {
        hdMapView.onSaveInstanceState(outState)
-//        preContainer.onSaveInstanceState(outState)
+        preContainer.onSaveInstanceState(outState)
 //        decContainer.onSaveInstanceState(outState)
    }

    fun onResume() {
        hdMapView.onResume()
-//        preContainer.onResume()
+        preContainer.onResume()
 //        decContainer.onResume()
    }

    fun onLowMemory() {
        hdMapView.onLowMemory()
-//        preContainer.onLowMemory()
+        preContainer.onLowMemory()
 //        decContainer.onLowMemory()
    }

    fun onPause() {
        hdMapView.onPause()
-//        preContainer.onPause()
+        preContainer.onPause()
 //        decContainer.onPause()
    }

    fun onDestroy() {
        hdMapView.onDestroy()
-//        preContainer.onDestroy()
+        preContainer.onDestroy()
 //        decContainer.onDestroy()
    }

--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/homepage/HomeViewModel.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/ui/homepage/HomeViewModel.kt
@@ -41,35 +41,35 @@ class HomeViewModel : ViewModel(), BridgeListener, OrderListener {

    override fun onTrajectoryHaveData(haveTrajectoryInfos: Boolean) {
        this.haveTrajectoryInfos = haveTrajectoryInfos
-//        checkScreenChange()
+        checkScreenChange()
    }

    override fun onPredictionHavaData(havePredictionInfos: Boolean) {
        this.havePredictionInfos = havePredictionInfos
-//        checkScreenChange()
+        checkScreenChange()
    }

    override fun onCurrentOrderStatusChanged(order: BaseOrderBean?) {
        this.order = order
-//        checkScreenChange()
+        checkScreenChange()
    }

-    fun checkScreenChange(){
-//        CallerLogger.d(TAG,"havePredictionInfos:${havePredictionInfos}--haveTrajectoryInfos:${haveTrajectoryInfos}--order:${order}")
-//        if(order!=null&&havePredictionInfos&&havePredictionInfos){
-//            FunctionBuildConfig.isDrawDecIdentifyData = true
-//            FunctionBuildConfig.isDrawPreIdentifyData = true
-//            // 展示三联屏
-//            BizLoopManager.runInMainThread{
-//                this.viewCallback?.showThreeScreen()
-//            }
-//        }else{
-//            FunctionBuildConfig.isDrawDecIdentifyData = false
-//            FunctionBuildConfig.isDrawPreIdentifyData = false
-//            // 展示二联屏幕
-//            BizLoopManager.runInMainThread{
-//                this.viewCallback?.showTwoScreen()
-//            }
-//        }
+    private fun checkScreenChange(){
+        CallerLogger.d(TAG,"havePredictionInfos:${havePredictionInfos}--haveTrajectoryInfos:${haveTrajectoryInfos}--order:${order}")
+        if(havePredictionInfos&&havePredictionInfos){//order!=null&&
+            FunctionBuildConfig.isDrawDecIdentifyData = true
+            FunctionBuildConfig.isDrawPreIdentifyData = true
+            // 展示三联屏
+            BizLoopManager.runInMainThread{
+                this.viewCallback?.showThreeScreen()
+            }
+        }else{
+            FunctionBuildConfig.isDrawDecIdentifyData = false
+            FunctionBuildConfig.isDrawPreIdentifyData = false
+            // 展示二联屏幕
+            BizLoopManager.runInMainThread{
+                this.viewCallback?.showTwoScreen()
+            }
+        }
    }
 }
--- a/OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_home.xml
+++ b/OCH/taxi/unmanned-passenger/src/main/res/layout/taxi_p_home.xml
@@ -26,33 +26,31 @@
        android:id="@+id/midContainer"
        android:layout_width="0dp"
        android:layout_height="match_parent"
-        android:layout_marginBottom="@dimen/dp_10"
-        android:visibility="gone"
-        app:layout_constraintTop_toTopOf="parent"
        android:layout_marginStart="-6.5dp"
        android:layout_marginEnd="-6.5dp"
+        android:layout_marginBottom="@dimen/dp_10"
+        android:visibility="gone"
+        app:layout_constraintEnd_toStartOf="@id/rightStartGuideline"
        app:layout_constraintStart_toEndOf="@+id/midStartGuideline"
-        app:layout_constraintEnd_toStartOf="@id/rightStartGuideline">
+        app:layout_constraintTop_toTopOf="parent">

-<!--        <com.mogo.eagle.core.function.view.PredictionLayout-->
-<!--            android:id="@+id/preContainer"-->
-<!--            app:layout_constraintTop_toTopOf="parent"-->
-<!--            app:layout_constraintStart_toStartOf="parent"-->
-<!--            app:layout_constraintEnd_toEndOf="parent"-->
-<!--            android:background="@drawable/taxi_p_home_middle_top_bg"-->
-<!--            android:layout_width="match_parent"-->
-<!--            android:layout_height="@dimen/dp_676" />-->
-
-<!--        <com.mogo.eagle.core.function.view.DecisionLayout-->
-<!--            android:id="@+id/decContainer"-->
-<!--            app:layout_constraintBottom_toBottomOf="parent"-->
-<!--            app:layout_constraintStart_toStartOf="parent"-->
-<!--            app:layout_constraintEnd_toEndOf="parent"-->
-<!--            android:background="@drawable/taxi_p_home_middle_bottom_bg"-->
-<!--            android:layout_width="match_parent"-->
-<!--            android:layout_height="@dimen/dp_676"-->
-<!--            />-->
+        <com.mogo.eagle.core.function.view.PredictionLayout
+            android:id="@+id/preContainer"
+            android:layout_width="match_parent"
+            android:layout_height="@dimen/dp_676"
+            android:background="@drawable/taxi_p_home_middle_top_bg"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintStart_toStartOf="parent"
+            app:layout_constraintTop_toTopOf="parent" />

+        <com.mogo.eagle.core.function.view.DecisionLayout
+            android:id="@+id/decContainer"
+            android:layout_width="match_parent"
+            android:layout_height="@dimen/dp_676"
+            android:background="@drawable/taxi_p_home_middle_bottom_bg"
+            app:layout_constraintBottom_toBottomOf="parent"
+            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintStart_toStartOf="parent" />

    </androidx.constraintlayout.widget.ConstraintLayout>

@@ -91,9 +89,9 @@
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            app:layout_constraintTop_toTopOf="parent"
-            app:layout_constraintEnd_toEndOf="parent"
-            android:layout_marginTop="@dimen/dp_26"
-            android:layout_marginEnd="@dimen/dp_21"
+            app:layout_constraintLeft_toLeftOf="parent"
+            android:layout_marginTop="@dimen/dp_30"
+            android:layout_marginStart="@dimen/dp_21"
            android:visibility="gone"
            app:lightUser="passenger"
            />
--- a/OCH/taxi/unmanned-passenger/src/main/res/layout/taxt_u_p_base_fragment.xml
+++ b/OCH/taxi/unmanned-passenger/src/main/res/layout/taxt_u_p_base_fragment.xml
@@ -42,6 +42,7 @@

    <!--  红绿灯  -->
    <com.mogo.eagle.core.function.hmi.ui.widget.TrafficLightView
+        android:id="@+id/traffic_light_view"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        app:layout_constraintLeft_toLeftOf="parent"
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -142,8 +142,28 @@ class MoGoAdasMsgConnectStatusListenerImpl :
                CallerAutoPilotControlManager.setRainMode(FunctionBuildConfig.isRainMode)
                // 6.6.2 版本默认开启，与海江确认过，默认发盲区模式
                CallerAutoPilotControlManager.sendFusionMode(2)
-                CallerAutoPilotControlManager.sendV2iToPncCmd(FunctionBuildConfig.v2iToPNC)
+
                CallerAutoPilotControlManager.sendV2nToPncCmd(FunctionBuildConfig.v2nTotalSwitch)
+
+                //事件数据进PNC应用
+                if(FunctionBuildConfig.ndeEventDataToPnc){
+                    CallerAutoPilotControlManager.sendNdeDownEventToPnc(1)
+                }else{
+                    CallerAutoPilotControlManager.sendNdeDownEventToPnc(0)
+                }
+                //感知数据进PNC应用
+                if(FunctionBuildConfig.ndePerceptionDataToPnc){
+                    CallerAutoPilotControlManager.sendNdeDownPerceptionToPnc(1)
+                }else{
+                    CallerAutoPilotControlManager.sendNdeDownPerceptionToPnc(0)
+                }
+                //V2I下行感知进PNC开关
+                if(FunctionBuildConfig.v2iPerceptionDataToPnc){
+                    CallerAutoPilotControlManager.sendV2iDownPerceptionToPnc(1)
+                }else{
+                    CallerAutoPilotControlManager.sendV2iDownPerceptionToPnc(0)
+                }
+
            }

            AdasConstants.IpcConnectionStatus.CONNECTING -> {
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -586,10 +586,16 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                    hasCloudControlLight = true
                    //展示云控基础平台信号灯信息
                    CallerTrafficLightListenerManager.showCloudTrafficLight(currentState, currentDuration, nextState, nextDuration)
+                }else{
+                    //隐藏云控基础信号红绿灯
+                    CallerTrafficLightListenerManager.disableTrafficLight()
+                    hasCloudControlLight = false
                }
            }
        }else{
            hasCloudControlLight = false
+            //隐藏云控基础信号红绿灯
+            CallerTrafficLightListenerManager.disableTrafficLight()
        }
    }

--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ota/OTAUpgradeManager.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/ota/OTAUpgradeManager.kt
@@ -56,8 +56,14 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                }else{
                    Log.i(TAG,"20分钟没有收到OTA升级推送置为失败")
                    CallerHmiManager.showOTADownloadStatusDialog(false, emptyList())
-                    CallerHmiManager.showOTAResultDialog(false)
+                    CallerHmiManager.showOTAResultDialog(isShow = true, result = false)
                }
+            }else if(msg.what == 2){
+                Log.i(TAG,"司机屏弹窗提示用车人执行车辆下电操作")
+                //如果OTA升级弹窗没有点击关闭，则自动关闭
+                CallerHmiManager.showOTAResultDialog(isShow = false, result = true)
+                //司机屏弹窗提示用车人执行车辆下电操作
+                CallerHmiManager.showOTAPowerOffFinishDialog()
            }
        }
    }
@@ -126,7 +132,7 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                val token = productInfo.optString("token")
                val productStatus = productInfo.optInt("status")
                val failReason = productInfo.optString("fail_reason")
-                val upgradeReason = productInfo.optString("upgrade_reason")
+                val upgradeReason = productInfo.optString("upgrade_reason")//升级原因
                val taskId = productInfo.optInt("task_id")
                val taskItemId = productInfo.optInt("task_item_id")
                val otaType = productInfo.optInt("ota_type")
@@ -136,6 +142,7 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                val curSize = productInfo.optDouble("cur_size")
                val totalSize = productInfo.optDouble("total_size")
                val taskNumber = productInfo.optInt("task_number")
+                val leftTime = productInfo.optInt("left_time") //剩余时间，单位秒

                Log.i(TAG, "index=$index")
                Log.i(TAG, "token=$token")
@@ -150,7 +157,8 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                Log.i(TAG, "is_delay=$isDelay")
                Log.i(TAG, "cur_size=$curSize")
                Log.i(TAG, "total_size=$totalSize")
-                Log.i(TAG,"taskNumber=$taskNumber")
+                Log.i(TAG,"task_number=$taskNumber")
+                Log.i(TAG,"left_time=$leftTime")

                if(index == 0){
                    //是否需要触发提示升级只判断第一个任务
@@ -251,7 +259,7 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                val token = productInfo.optString("token")
                val productStatus = productInfo.optInt("status")
                val failReason = productInfo.optString("fail_reason")
-                val upgradeReason = productInfo.optString("upgrade_reason")
+                val upgradeReason = productInfo.optString("upgrade_reason")//升级原因
                val taskId = productInfo.optInt("task_id")
                val taskItemId = productInfo.optInt("task_item_id")
                val otaType = productInfo.optInt("ota_type")
@@ -261,6 +269,7 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                val curSize = productInfo.optDouble("cur_size")
                val totalSize = productInfo.optDouble("total_size")
                val taskNumber = productInfo.optInt("task_number")
+                val leftTime = productInfo.optInt("left_time")//剩余时间，单位秒

                Log.i(TAG, "index=$index")
                Log.i(TAG, "token=$token")
@@ -276,6 +285,7 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                Log.i(TAG, "cur_size=$curSize")
                Log.i(TAG, "total_size=$totalSize")
                Log.i(TAG,"task_number=$taskNumber")
+                Log.i(TAG,"left_time=$leftTime")

                if(index == 0){
                    //是否需要触发提示升级只判断第一个任务
@@ -334,7 +344,13 @@ object OTAUpgradeManager: IMoGoAutopilotStatusListener, IDataCenterBizListener,
                    OTAUpgradeConfig.isQuery = false
                }else{
                    CallerHmiManager.showOTADownloadStatusDialog(false,otaUpgradeList)
-                    CallerHmiManager.showOTAResultDialog(upgradeResult)
+                    CallerHmiManager.showOTAResultDialog(true,upgradeResult)
+                    //升级成功，自动执行优雅停服
+                    if(upgradeResult){
+                        CallerAutoPilotControlManager.sendIpcPowerOff()
+                        //当优雅停服完成、需要车辆下电的时候（比如当前是停服触发60s后），车端告知鹰眼，司机屏弹窗提示用车人执行车辆下电操作
+                        handler.sendEmptyMessageDelayed(2,60000)
+                    }
                }
                CallerOTAManager.invokeOtaDownloadStatus(false)
            }else{
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/tab/CarInfoTabView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/bone/tab/CarInfoTabView.kt
@@ -54,6 +54,10 @@ import kotlinx.android.synthetic.main.view_car_info_tab.view.tvPADUpdate
 import kotlinx.android.synthetic.main.view_car_info_tab.view.tvPadVersion
 import kotlinx.android.synthetic.main.view_car_info_tab.view.tvSlamMapVersion
 import kotlinx.android.synthetic.main.view_car_info_tab.view.tvSnInfo
+import kotlinx.coroutines.DelicateCoroutinesApi
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.GlobalScope
+import kotlinx.coroutines.launch
 import system_master.SsmInfo
 import system_master.SystemStatusInfo

@@ -106,6 +110,7 @@ class CarInfoTabView @JvmOverloads constructor(
        CallerMapShowNameManager.removeListener(TAG)
    }

+    @OptIn(DelicateCoroutinesApi::class)
    private fun initView() {

        val qrCodeView = CallerOchCustomViewManager.getOchBindQRCodeView(context)
@@ -182,8 +187,10 @@ class CarInfoTabView @JvmOverloads constructor(
            }
        }

-        MogoData.mogoMapData.get()?.isCityDataCached {
-            updateHDDataCacheStatus(it)
+        GlobalScope.launch(Dispatchers.IO){
+            MogoData.mogoMapData.get()?.isCityDataCached {
+                updateHDDataCacheStatus(it)
+            }
        }

        if(FunctionBuildConfig.isOffLine){
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/MoGoHmiProvider.kt
@@ -61,6 +61,7 @@ import com.mogo.eagle.core.function.hmi.ui.setting.ToolsView.Companion.toolsView
 import com.mogo.eagle.core.function.hmi.ui.tools.AdUpgradeDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.ModifyBindingCarDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.OTADownloadStatusDialog
+import com.mogo.eagle.core.function.hmi.ui.tools.OTAPowerOffFinishDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.OTAUpgradeDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.OTAUpgradeResultDialog
 import com.mogo.eagle.core.function.hmi.ui.tools.ToBindingCarDialog
@@ -667,6 +668,7 @@ class MoGoHmiProvider : IMoGoHmiProvider {
    private var otaUpgradeDialog: OTAUpgradeDialog ?= null
    private var otaDownloadStatusDialog: OTADownloadStatusDialog ?= null
    private var otaUpgradeResultDialog: OTAUpgradeResultDialog ?= null
+    private var otaPowerOffFinishDialog: OTAPowerOffFinishDialog ?= null

    /**
     * 展示OTA升级弹窗
@@ -720,18 +722,42 @@ class MoGoHmiProvider : IMoGoHmiProvider {

    /**
     * 展示OTA升级结果弹窗
+     * @param isShow 是否展示
     * @param result true升级成功 false升级失败
     */
-    override fun showOTAResultDialog(result: Boolean) {
+    override fun showOTAResultDialog(isShow: Boolean,result: Boolean) {
        ThreadUtils.runOnUiThread{
-            context?.let{
-                if(otaUpgradeResultDialog == null){
-                    otaUpgradeResultDialog = OTAUpgradeResultDialog(it)
+            if(isShow){
+                context?.let{
+                    if(otaUpgradeResultDialog == null){
+                        otaUpgradeResultDialog = OTAUpgradeResultDialog(it)
+                    }
+                    if(otaUpgradeResultDialog?.isShowing == false){
+                        otaUpgradeResultDialog?.show()
+                    }
+                    otaUpgradeResultDialog?.showResult(result)
                }
-                if(otaUpgradeResultDialog?.isShowing == false){
-                    otaUpgradeResultDialog?.show()
+            }else{
+                if(otaUpgradeResultDialog?.isShowing == true){
+                    otaUpgradeResultDialog?.dismiss()
+                }
+            }
+
+        }
+    }
+
+    /**
+     * OTA升级完成且优雅停服完成、需要车辆下电的时候车端告知鹰眼，司机屏弹窗提示用车人执行车辆下电操作
+     */
+    override fun showOTAPowerOffFinishDialog() {
+        ThreadUtils.runOnUiThread {
+            context?.let {
+                if(otaPowerOffFinishDialog == null){
+                    otaPowerOffFinishDialog = OTAPowerOffFinishDialog(it)
+                }
+                if(otaPowerOffFinishDialog?.isShowing == false){
+                    otaPowerOffFinishDialog?.show()
                }
-                otaUpgradeResultDialog?.showResult(result)
            }
        }
    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -480,15 +480,15 @@ class OperatePanelLayout : LinearLayout {
                        //关闭事件数据进PNC应用
                        CallerAutoPilotControlManager.sendNdeDownEventToPnc(0)
                        //查询事件数据进PNC应用
-                        UiThreadHandler.postDelayed({
-                            CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2N_TO_PNC)
-                        }, 500)
+//                        UiThreadHandler.postDelayed({
+//                            CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2N_TO_PNC)
+//                        }, 500)
                        //关闭感知数据进PNC应用
                        CallerAutoPilotControlManager.sendNdeDownPerceptionToPnc(0)
                        //查询感知数据进PNC应用
-                        UiThreadHandler.postDelayed({
-                            CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.PERCEPTION_TO_PNC)
-                        }, 500)
+//                        UiThreadHandler.postDelayed({
+//                            CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.PERCEPTION_TO_PNC)
+//                        }, 500)
                    }
                    return true
                }
@@ -502,9 +502,9 @@ class OperatePanelLayout : LinearLayout {
                        CallerAutoPilotControlManager.sendNdeDownEventToPnc(0)
                    }
                    //查询事件数据进PNC应用
-                    UiThreadHandler.postDelayed({
-                        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2N_TO_PNC)
-                    }, 500)
+//                    UiThreadHandler.postDelayed({
+//                        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2N_TO_PNC)
+//                    }, 500)
                    hmiAction("事件数据进PNC应用, ", isChecked)
                    clickEventAnalytics("事件数据进PNC应用", isChecked)
                    return true
@@ -519,9 +519,9 @@ class OperatePanelLayout : LinearLayout {
                        CallerAutoPilotControlManager.sendNdeDownPerceptionToPnc(0)
                    }
                    //查询感知数据进PNC应用
-                    UiThreadHandler.postDelayed({
-                        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.PERCEPTION_TO_PNC)
-                    }, 500)
+//                    UiThreadHandler.postDelayed({
+//                        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.PERCEPTION_TO_PNC)
+//                    }, 500)
                    hmiAction("感知数据进PNC应用, ", isChecked)
                    clickEventAnalytics("感知数据进PNC应用", isChecked)
                    return true
@@ -588,9 +588,9 @@ class OperatePanelLayout : LinearLayout {
                        FunctionBuildConfig.v2iPerceptionDataToPnc = false
                        CallerAutoPilotControlManager.sendV2iDownPerceptionToPnc(0)
                        //查询V2I下行感知进PNC开关状态
-                        UiThreadHandler.postDelayed({
-                            CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2I_TO_PNC)
-                        }, 500)
+//                        UiThreadHandler.postDelayed({
+//                            CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2I_TO_PNC)
+//                        }, 500)
                    }
                    hmiAction("V2I下行, ", isChecked)
                    clickEventAnalytics("V2I下行", isChecked)
@@ -615,9 +615,9 @@ class OperatePanelLayout : LinearLayout {
                        CallerAutoPilotControlManager.sendV2iDownPerceptionToPnc(0)
                    }
                    //查询V2I下行感知进PNC开关状态
-                    UiThreadHandler.postDelayed({
-                        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2I_TO_PNC)
-                    }, 500)
+//                    UiThreadHandler.postDelayed({
+//                        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.V2I_TO_PNC)
+//                    }, 500)
                    hmiAction("感知数据进PNC应用, ", isChecked)
                    clickEventAnalytics("感知数据进PNC应用", isChecked)
                    return true
@@ -639,54 +639,56 @@ class OperatePanelLayout : LinearLayout {
         * @param config 数据
         */
        override fun onCloudConfig(config: MessagePad.CloudConfig) {
-            //云连接地址
-            config.addrsList.forEach {
-                when(it.type){
-                    //蘑菇云，暂时用不到
-                    0->{
+            ThreadUtils.runOnUiThread {
+                //云连接地址
+                config.addrsList.forEach {
+                    when(it.type){
+                        //蘑菇云，暂时用不到
+                        0->{

-                    }
-                    //NDE云
-                    1->{
-                        when(it.direction){
-                            //上行和下行
-                            0->{
-                                FunctionBuildConfig.ndeUpwardSwitch = it.enable
-                                FunctionBuildConfig.ndeDownwardSwitch = it.enable
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_UPWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeUpwardSwitch) }
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_DOWNWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeDownwardSwitch) }
-                            }
-                            //上行
-                            1->{
-                                FunctionBuildConfig.ndeUpwardSwitch = it.enable
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_UPWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeUpwardSwitch) }
-                            }
-                            //下行
-                            2->{
-                                FunctionBuildConfig.ndeDownwardSwitch = it.enable
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_DOWNWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeDownwardSwitch) }
+                        }
+                        //NDE云
+                        1->{
+                            when(it.direction){
+                                //上行和下行
+                                0->{
+                                    FunctionBuildConfig.ndeUpwardSwitch = it.enable
+                                    FunctionBuildConfig.ndeDownwardSwitch = it.enable
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_UPWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeUpwardSwitch) }
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_DOWNWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeDownwardSwitch) }
+                                }
+                                //上行
+                                1->{
+                                    FunctionBuildConfig.ndeUpwardSwitch = it.enable
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_UPWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeUpwardSwitch) }
+                                }
+                                //下行
+                                2->{
+                                    FunctionBuildConfig.ndeDownwardSwitch = it.enable
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_DOWNWARD_SWITCH)?.also { changeValue(it, FunctionBuildConfig.ndeDownwardSwitch) }
+                                }
                            }
                        }
-                    }
-                    //基础平台云
-                    2->{
-                        when(it.direction){
-                            //上行和下行
-                            0->{
-                                FunctionBuildConfig.cloudControlUpward = it.enable
-                                FunctionBuildConfig.cloudControlDownward = it.enable
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_UPWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlUpward) }
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_DOWNWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlDownward) }
-                            }
-                            //上行
-                            1->{
-                                FunctionBuildConfig.cloudControlUpward = it.enable
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_UPWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlUpward) }
-                            }
-                            //下行
-                            2->{
-                                FunctionBuildConfig.cloudControlDownward = it.enable
-                                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_DOWNWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlDownward) }
+                        //基础平台云
+                        2->{
+                            when(it.direction){
+                                //上行和下行
+                                0->{
+                                    FunctionBuildConfig.cloudControlUpward = it.enable
+                                    FunctionBuildConfig.cloudControlDownward = it.enable
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_UPWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlUpward) }
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_DOWNWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlDownward) }
+                                }
+                                //上行
+                                1->{
+                                    FunctionBuildConfig.cloudControlUpward = it.enable
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_UPWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlUpward) }
+                                }
+                                //下行
+                                2->{
+                                    FunctionBuildConfig.cloudControlDownward = it.enable
+                                    preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(CLOUD_CONTROL_DOWNWARD)?.also { changeValue(it, FunctionBuildConfig.cloudControlDownward) }
+                                }
                            }
                        }
                    }
@@ -698,7 +700,9 @@ class OperatePanelLayout : LinearLayout {
         * 查询摄像头上传NDE云状态返回
         */
        override fun onImgUploadCloudStatusResp(resp: MessagePad.ImgUploadCloudStatusResp) {
-            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(IMAGE_UPLOAD_SWITCH)?.also { changeValue(it, resp.enable) }
+            ThreadUtils.runOnUiThread {
+                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(IMAGE_UPLOAD_SWITCH)?.also { changeValue(it, resp.enable) }
+            }
        }

        /**
@@ -707,12 +711,14 @@ class OperatePanelLayout : LinearLayout {
         * @param adasParam    解析后的配置参数
         */
        override fun onGetParamResp(getParamResp: MessagePad.SetParamReq, adasParam: AdasParam) {
-            //融合v2n开关 NDE下行事件数据进pnc
-            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_EVENT_DATA_TO_PNC)?.also { changeValue(it,adasParam.v2nToPnc==1) }
-            //融合v2i开关 V2I下行感知数据进pnc
-            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(V2I_PERCEPTION_DATA_TO_PNC)?.also { changeValue(it,adasParam.v2iToPnc==1) }
-            //NDE下行感知数据进pnc
-            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_PERCEPTION_DATA_TO_PNC)?.also { changeValue(it,adasParam.perceptionToPnc==1) }
+//            ThreadUtils.runOnUiThread {
+//                //融合v2n开关 NDE下行事件数据进pnc
+//                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_EVENT_DATA_TO_PNC)?.also { changeValue(it,adasParam.v2nToPnc==1) }
+//                //融合v2i开关 V2I下行感知数据进pnc
+//                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(V2I_PERCEPTION_DATA_TO_PNC)?.also { changeValue(it,adasParam.v2iToPnc==1) }
+//                //NDE下行感知数据进pnc
+//                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(NDE_PERCEPTION_DATA_TO_PNC)?.also { changeValue(it,adasParam.perceptionToPnc==1) }
+//            }
        }

        /**
@@ -720,7 +726,9 @@ class OperatePanelLayout : LinearLayout {
         * @param enable 数据
         */
        override fun onObuUploadStatus(enable: MessagePad.SetEnableReq) {
-            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(OBU_UPWARD_SWITCH)?.also { changeValue(it, enable.enable==1) }
+            ThreadUtils.runOnUiThread {
+                preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(OBU_UPWARD_SWITCH)?.also { changeValue(it, enable.enable==1) }
+            }
        }

    }
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/OTAPowerOffFinishDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/OTAPowerOffFinishDialog.kt
@@ -0,0 +1,31 @@
+package com.mogo.eagle.core.function.hmi.ui.tools
+
+import android.content.Context
+import androidx.lifecycle.LifecycleObserver
+import com.mogo.commons.voice.AIAssist
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
+import kotlinx.android.synthetic.main.dialog_ota_power_off_finish.tvPowerOffClose
+
+/**
+ * OTA升级完成且优雅停服完成、需要车辆下电的时候车端告知鹰眼，
+ * 司机屏弹窗提示用车人执行车辆下电操作
+ */
+class OTAPowerOffFinishDialog(context: Context) :
+    BaseFloatDialog(context,TAG), LifecycleObserver {
+
+    companion object {
+        private const val TAG = "OTAPowerOffFinishDialog"
+    }
+
+    init{
+        setContentView(R.layout.dialog_ota_power_off_finish)
+        setCanceledOnTouchOutside(false)
+        tvPowerOffClose.setOnClickListener {
+            dismiss()
+        }
+        //语音提示下电重启
+        AIAssist.getInstance(context).speakTTSVoice("优雅停服完成，请操作车辆下电重启")
+    }
+
+}
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/OTAUpgradeResultDialog.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/tools/OTAUpgradeResultDialog.kt
@@ -11,6 +11,8 @@ import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.dialog.BaseFloatDialog
 import com.mogo.eagle.core.utilcode.util.ResourceUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils
+import com.mogo.eagle.core.utilcode.util.TimeUtils.getHourMinSecondFormat
 import kotlinx.android.synthetic.main.dialog_ota_upgrade_result.ivUpgradeResult
 import kotlinx.android.synthetic.main.dialog_ota_upgrade_result.tvResultClose
 import kotlinx.android.synthetic.main.dialog_ota_upgrade_result.tvResultContent
@@ -43,16 +45,18 @@ class OTAUpgradeResultDialog(context: Context) :
            //升级成功
            ivUpgradeResult.setImageDrawable(ResourceUtils.getDrawable(R.drawable.icon_ota_upgrade_success))
            tvResultContent.text = context.resources.getString(R.string.ota_result_success)
-            tvResultTip.text = context.resources.getString(R.string.ota_result_success_tip)
+            tvResultTip.text =
+            String.format(context.resources.getString(R.string.ota_result_success_tip),
+                TimeUtils.millis2String(System.currentTimeMillis()+60000,getHourMinSecondFormat()))
            //消息盒子和语音提示升级成功结果
            CallerMsgBoxManager.saveMsgBox(
                MsgBoxBean(
                    MsgBoxType.OTA,
                    OTAMsg(
-                        "成功", "车辆部署任务执行结果", "车辆部署任务执行成功，请重启车辆")
+                        "成功", "车辆部署任务执行结果", "任务下载完成，一分钟后操作车辆下电重启")
                )
            )
-            AIAssist.getInstance(context).speakTTSVoice("车辆部署任务执行成功，请重启车辆")
+            AIAssist.getInstance(context).speakTTSVoice("任务下载完成，一分钟后操作车辆下电重启")
        }else{
            //升级失败
            ivUpgradeResult.setImageDrawable(ResourceUtils.getDrawable(R.drawable.icon_ota_upgrade_fail))
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_green_light_passenger.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_green_light_passenger.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_green_light_pointer_passenger.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_green_light_pointer_passenger.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_red_light_passenger.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_red_light_passenger.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_red_light_pointer_passenger.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_red_light_pointer_passenger.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_yellow_light_passenger.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_yellow_light_passenger.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_yellow_light_pointer_passenger.png
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/icon_yellow_light_pointer_passenger.png
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_ota_power_off_finish.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/dialog_ota_power_off_finish.xml
@@ -0,0 +1,64 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout
+    xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="@dimen/dp_900"
+    android:layout_height="@dimen/dp_620"
+    android:background="@drawable/bg_bone_dialog"
+    app:roundLayoutRadius="@dimen/dp_50">
+
+    <ImageView
+        android:id="@+id/ivPowerOffFinish"
+        android:layout_width="@dimen/dp_140"
+        android:layout_height="@dimen/dp_140"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="@dimen/dp_87"
+        android:contentDescription="@string/ota_result_image"
+        android:src="@drawable/icon_ota_upgrade_success"
+        />
+
+    <TextView
+        android:id="@+id/tvPowerOffContent"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/ivPowerOffFinish"
+        android:textColor="@color/white"
+        android:textSize="@dimen/sp_45"
+        android:layout_marginTop="@dimen/dp_20"
+        android:textStyle="bold"
+        android:text="@string/ota_power_off_finish_title"
+        />
+
+    <TextView
+        android:id="@+id/tvPowerOffTip"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvPowerOffContent"
+        android:textColor="@color/white"
+        android:textSize="@dimen/sp_36"
+        android:layout_marginTop="@dimen/dp_20"
+        android:text="@string/ota_power_off_finish_tip"
+        />
+
+    <TextView
+        android:id="@+id/tvPowerOffClose"
+        android:layout_width="@dimen/dp_356"
+        android:layout_height="@dimen/dp_120"
+        android:gravity="center"
+        android:text="@string/ota_result_close"
+        android:background="@drawable/bg_dialog_btn"
+        android:textColor="@color/color_2EACFF"
+        android:textSize="@dimen/dp_40"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginBottom="@dimen/dp_62"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_view_traffic_light_driver.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_view_traffic_light_driver.xml
@@ -24,6 +24,7 @@
        app:layout_constraintBottom_toBottomOf="@id/ivLightStatus"
        app:layout_constraintLeft_toLeftOf="@id/ivLightStatus"
        app:layout_constraintRight_toRightOf="@id/ivLightStatus"
+        app:chartRingWidth="@dimen/dp_6"
        />

    <com.mogo.eagle.core.function.hmi.ui.widget.TypefaceTextView
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_view_traffic_light_passenger.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_view_traffic_light_passenger.xml
@@ -9,23 +9,22 @@
        android:id="@+id/ivLightStatus"
        android:layout_width="@dimen/dp_90"
        android:layout_height="@dimen/dp_90"
-        android:src="@drawable/icon_green_light_passenger"
        app:layout_constraintTop_toTopOf="parent"
        app:layout_constraintLeft_toLeftOf="parent"
-        android:layout_marginStart="@dimen/dp_20"
-        android:layout_marginTop="@dimen/dp_10"
+        android:layout_marginStart="@dimen/dp_16"
+        android:layout_marginTop="@dimen/dp_11"
        android:contentDescription="@string/common_traffic_light_status"
        />

    <com.mogo.eagle.core.function.hmi.ui.widget.ProportionChartTwoView
        android:id="@+id/pcvLightProportion"
-        android:layout_width="@dimen/dp_76"
-        android:layout_height="@dimen/dp_76"
+        android:layout_width="@dimen/dp_70"
+        android:layout_height="@dimen/dp_70"
        app:layout_constraintTop_toTopOf="@id/ivLightStatus"
        app:layout_constraintBottom_toBottomOf="@id/ivLightStatus"
        app:layout_constraintLeft_toLeftOf="@id/ivLightStatus"
        app:layout_constraintRight_toRightOf="@id/ivLightStatus"
-        app:chartRingWidth="@dimen/dp_3"
+        app:chartRingWidth="@dimen/dp_4"
        />

    <com.mogo.eagle.core.function.hmi.ui.widget.TypefaceTextView
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_map_container.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_map_container.xml
@@ -88,7 +88,7 @@
        android:visibility="gone"
        app:lightUser="driver"
        android:focusable="false"
-        android:layout_marginTop="@dimen/hmi_traffic_light_layout_margin_top"
+        android:layout_marginTop="@dimen/dp_40"
        />

    <!--红绿灯提醒-->
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -267,11 +267,13 @@
    <string name="ota_upgrade_later">稍后升级</string>
    <string name="ota_download_title">资源下载中</string>
    <string name="ota_result_image">OTA升级结果图片示例</string>
-    <string name="ota_result_success">⻋辆部署任务执⾏成功</string>
+    <string name="ota_result_success">⻋辆部署任务下载完成</string>
    <string name="ota_result_fail">⻋辆部署任务执⾏失败</string>
-    <string name="ota_result_success_tip">请重启⻋辆</string>
+    <string name="ota_result_success_tip">已自动发起优雅停服，%s后可操作车辆下电重启</string>
    <string name="ota_result_fail_tip">请联系管理员</string>
    <string name="ota_result_close">关闭</string>
+    <string name="ota_power_off_finish_title">车辆优雅停服完成</string>
+    <string name="ota_power_off_finish_tip">请操作车辆下电重启</string>

    <string name="fsm_demo_mode_error">FSM美化模式状态下异常标识</string>

--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/MapBizProvider.kt
@@ -3,21 +3,19 @@ package com.mogo.eagle.core.function
 import android.content.Context
 import com.alibaba.android.arouter.facade.annotation.Route
 import com.mogo.commons.AbsMogoApplication
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
 import com.mogo.eagle.core.function.api.base.IMoGoFunctionServerProvider
 import com.mogo.eagle.core.function.api.map.roma.IMogoRoma
 import com.mogo.eagle.core.function.business.MapPointCloudSubscriber
-import com.mogo.eagle.core.function.business.SpeedLimitDataManager
 import com.mogo.eagle.core.function.business.ai.AiCloudIdentifyDataManager.Companion.aiCloudIdentifyDataManager
-import com.mogo.eagle.core.function.business.ai.RomaManager
 import com.mogo.eagle.core.function.business.ai.RomaManager.Companion.romaManager
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.business.roadcross.RoadCrossCameraManager
+import com.mogo.eagle.core.function.business.routeoverlay.DecisionDataManager
 import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
+import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
 import com.mogo.eagle.core.function.business.trajectoryoverlay.MogoTrajectoryOverlayManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.map.MapDataWrapper

@@ -31,6 +29,8 @@ class MapBizProvider :IMoGoFunctionServerProvider, IMogoRoma {
        MapDataWrapper.init()
        MapIdentifySubscriber.instance
        MogoRouteOverlayManager.getInstance().init()
+        DecisionDataManager.getInstance()
+        PredictionDataManager.getInstance()
        MogoTrajectoryOverlayManager.getInstance().init()
        MapPointCloudSubscriber.instance
        RoadCrossCameraManager.instance.init(context)
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/MapIdentifySubscriber.kt
@@ -1,6 +1,5 @@
 package com.mogo.eagle.core.function.business.identify

-import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.MogoLocation
@@ -8,9 +7,8 @@ import com.mogo.eagle.core.data.traffic.TrafficData
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.api.base.IMoGoSubscriber
 import com.mogo.eagle.core.function.api.datacenter.obu.IMoGoObuStatusListener
+import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
 import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer
-import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer2
-import com.mogo.eagle.core.function.business.routeoverlay.PredictionOverlayDrawer3
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getLocationHeading
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager.getWgs84Lat
@@ -19,8 +17,9 @@ import com.mogo.eagle.core.function.call.obu.CallerObuWarningListenerManager
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.map.MogoMap
 import com.mogo.map.MogoMap.Companion.mapInstance
-import com.mogo.map.identify.MogoIdentifyManager
 import com.mogo.map.utils.LocationUtils
+import com.zhjt.mogo.adas.data.Adas.TrackedObjectClassID
+import com.zhjt.mogo.adas.data.Adas.TrackedObjectType
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.yycp.api.proto.SocketDownData
@@ -37,6 +36,21 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,

    private val TAG = "MapIdentifySubscriber"

+    private val typeMap: HashMap<TrackedObjectType, TrackedObjectClassID> by lazy {
+        hashMapOf<TrackedObjectType, TrackedObjectClassID>().apply {
+            put(TrackedObjectType.TYPE_PEDESTRIAN, TrackedObjectClassID.Person)
+            put(TrackedObjectType.TYPE_MOTOR, TrackedObjectClassID.MotorCycle)
+            put(TrackedObjectType.TYPE_BICYCLE, TrackedObjectClassID.Bicycle)
+            put(TrackedObjectType.TYPE_CAR, TrackedObjectClassID.Car)
+            put(TrackedObjectType.TYPE_TRUCK, TrackedObjectClassID.Truck)
+            put(TrackedObjectType.TYPE_BUS, TrackedObjectClassID.Bus)
+            put(TrackedObjectType.TYPE_WARNINGTRIANGLE, TrackedObjectClassID.WarningTriangle)
+            put(TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501, TrackedObjectClassID.RoadWork_occupy_0501)
+            put(TrackedObjectType.TYPE_ROADWORK_BREAK_0502, TrackedObjectClassID.RoadWork_break_0502)
+            put(TrackedObjectType.TYPE_ROAD_CONGESTION, TrackedObjectClassID.ROAD_CONGESTION)
+        }
+    }
+
    init {
        onCrate()
    }
@@ -95,34 +109,25 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
                            if (preObj.predictionTrajectoryList == null || preObj.predictionTrajectoryList.size < 2) return@forEach
                            carPoiList1 = preObj.predictionTrajectoryList[0].trajectoryPointsList
                            carPoiList2 = preObj.predictionTrajectoryList[1].trajectoryPointsList
-                            val largeType: Int
                            location1 = LocationUtils.generateLocation(carPoiList1!![0].x, carPoiList1!![0].y, getLocationHeading())
                            location2 = LocationUtils.generateLocation(carPoiList2!![0].x, carPoiList2!![0].y, getLocationHeading())
                            if (location1 == null || location2 == null) return@forEach
                            probability1 = preObj.predictionTrajectoryList[0].predictionProbability
                            probability2 = preObj.predictionTrajectoryList[1].predictionProbability
                            CallerAutopilotIdentifyListenerManager.invokeProbabilityChanged(probability1, probability2)
-                            if (probability1 >= probability2) {
-                                MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP)
-                                largeType = 2
-                            } else {
-                                MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP)
-                                largeType = 3
-                            }
-                            PredictionOverlayDrawer2.getInstance().drawPredictionList(carPoiList1, getLocationHeading(), false, 2, largeType)
-                            PredictionOverlayDrawer3.getInstance().drawPredictionList(carPoiList2, getLocationHeading(), false, 3, largeType)
-                            MogoIdentifyManager.getInstance().updateGps(location1!!, MogoMap.SMALL_PRED_MAP2)
-                            MogoIdentifyManager.getInstance().updateGps(location2!!, MogoMap.SMALL_PRED_MAP3)
+
+                            PredictionDataManager.getInstance()?.updateData(carPoiList1!!, 0)
+                            PredictionDataManager.getInstance()?.updateData(carPoiList2!!, 2)
                        } else {
-                            if (preObj.predictionTrajectoryList.isNullOrEmpty() || mogoMap == null) return@forEach
+                            if (isUnKnownType(preObj.classtype) || preObj.predictionTrajectoryList.isNullOrEmpty() || mogoMap == null) return@forEach
                            point = preObj.predictionTrajectoryList[0].trajectoryPointsList[0]
                            arr = mogoMap.switchData(point.x, point.y, false)
                            arr?.let { lonLatArr ->
                                val distance = com.mogo.eagle.core.utilcode.util.LocationUtils.getDistance(getWgs84Lat(), getWgs84Lon(), lonLatArr[1], lonLatArr[0])
-                                if (distance > 25) return@forEach
+                                if (distance > 28) return@forEach
                            }
                            preObj.predictionTrajectoryList[0].trajectoryPointsList.forEachIndexed { index, point ->
-                                if (index > 9 && index % 2 == 0) {// 步长为2，减少点
+                                if (index in 0..44 && index % 2 == 0) {// 步长为2，减少点
                                    arr = mogoMap.switchData(point.x, point.y, false)
                                    arr?.let { lonLatArr ->
                                        points.add(MogoLatLng(lonLatArr[1], lonLatArr[0]))
@@ -140,6 +145,20 @@ class MapIdentifySubscriber private constructor() : IMoGoSubscriber,
        }
    }

+    private fun isUnKnownType(classType: Int): Boolean {
+        val type: TrackedObjectType? = TrackedObjectType.forNumber(classType)
+        return when (type) {
+            null, TrackedObjectType.TYPE_UNKNOWN, TrackedObjectType.TYPE_UNKNOWN_SMALL,
+            TrackedObjectType.TYPE_UNKNOWN_BIG, TrackedObjectType.TYPE_UNKNOWN_STATIC,
+            TrackedObjectType.TYPE_UNKNOWN_DYNAMIC, TrackedObjectType.UNRECOGNIZED -> {
+                true
+            }
+            else -> {
+                false
+            }
+        }
+    }
+
    fun renderAiCloudResult(cloudData: List<SocketDownData.CloudRoadDataProto>, mapInstance:String = MogoMap.DEFAULT) {
        try {
            ThreadUtils.getSinglePool().execute {
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/DecisionDataManager.kt
@@ -0,0 +1,130 @@
+package com.mogo.eagle.core.function.business.routeoverlay
+
+import android.os.Handler
+import android.os.HandlerThread
+import android.os.Looper
+import android.os.Message
+import android.util.Log
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningTrajectoryListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningTrajectoryListenerManager
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.map.MogoMap
+import com.mogo.map.MogoMap.Companion.mapInstance
+import me.jessyan.autosize.utils.AutoSizeUtils
+import mogo.telematics.pad.MessagePad
+
+class DecisionDataManager private constructor() : IMoGoPlanningTrajectoryListener {
+
+    companion object {
+        private const val TAG = "DecisionDataManager"
+        private const val MSG_DATA_POINTS = 0
+        private const val MSG_CHECK = 1
+
+        @Volatile
+        private var sInstance: DecisionDataManager? = null
+        fun getInstance(): DecisionDataManager? {
+            if (sInstance == null) {
+                synchronized(DecisionDataManager::class.java) {
+                    if (sInstance == null) {
+                        sInstance = DecisionDataManager()
+                    }
+                }
+            }
+            return sInstance
+        }
+    }
+
+    private var frequentHandler: FrequentHandler? = null
+
+    private var lastUpdateTime = 0L
+
+    /**
+     * 高精地图宽、高
+     */
+    @Volatile
+    var mapWidth = 808
+    @Volatile
+    var mapHeight = 1300
+
+    /**
+     * 决策地图宽、高
+     */
+    @Volatile
+    var decWidth = 238
+    @Volatile
+    var decHeight = 458
+
+    init {
+        val frequentThread = HandlerThread("decision_thread")
+        frequentThread.start()
+        frequentHandler = FrequentHandler(frequentThread.looper)
+        frequentHandler?.sendEmptyMessageDelayed(MSG_CHECK, 1000)
+        CallerPlanningTrajectoryListenerManager.addListener(TAG, this)
+    }
+
+    private fun updateData(data: FloatArray) {
+        frequentHandler?.removeMessages(MSG_DATA_POINTS)
+        val message = Message.obtain()
+        message.what = MSG_DATA_POINTS
+        message.obj = data
+        frequentHandler?.sendMessage(message)
+    }
+
+    fun release() {
+    }
+
+    private inner class FrequentHandler(looper: Looper) : Handler(looper) {
+        override fun handleMessage(msg: Message) {
+            super.handleMessage(msg)
+            when (msg.what) {
+                MSG_DATA_POINTS -> {
+                    lastUpdateTime = System.currentTimeMillis()
+                    CallerAutopilotIdentifyListenerManager.invokeScreenPointsChanged(msg.obj as FloatArray)
+                }
+                MSG_CHECK -> {
+                    val time = System.currentTimeMillis()
+                    if (lastUpdateTime > 0 && time - lastUpdateTime >= 1000) {
+                        CallerAutopilotIdentifyListenerManager.invokeScreenPointsChanged(floatArrayOf())
+                    }
+                    sendEmptyMessageDelayed(MSG_CHECK, 1000)
+                }
+            }
+        }
+    }
+
+    override fun onAutopilotTrajectory(trajectoryInfos: MutableList<MessagePad.TrajectoryPoint>) {
+        ThreadUtils.getCpuPool().execute {
+            val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT)
+            mogoMap?.let { map ->
+                val lonLatList = ArrayList<android.graphics.Point>()
+                trajectoryInfos.forEach {
+                    map.toScreenLocation(it.longitude, it.latitude)?.let { point ->
+                        lonLatList.add(point)
+                        Log.d(TAG, "转换后的屏幕坐标为:(${point.x},${point.y})")
+                    }
+                }
+                if (lonLatList.size > 0) {
+                    val points = FloatArray(lonLatList.size * 2)
+                    var x = 0f
+                    var y = 0f
+                    var offset = 0f
+                    for (i in 0 until lonLatList.size) {
+                        x = lonLatList[i].x * decWidth / mapWidth.toFloat()
+                        points[i * 2] = x
+
+                        y = (decHeight + 14 - lonLatList[i].y * decHeight / mapHeight).toFloat()
+                        if (i == 0) {
+                            offset = decHeight * 0.78f - y// carBitmapTop等于height * 0.78，offset = carBitmapTop - 1stY
+                        }
+                        points[i * 2 + 1] = y + offset
+                        Log.d(TAG, "转换后的屏幕坐标为：(${x},${y})")
+                    }
+                    updateData(points)
+                } else {
+                    updateData(floatArrayOf())
+                }
+            }
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionDataManager.kt
@@ -0,0 +1,130 @@
+package com.mogo.eagle.core.function.business.routeoverlay
+
+import android.os.Handler
+import android.os.HandlerThread
+import android.os.Looper
+import android.os.Message
+import android.util.Log
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.map.MogoMap
+import com.mogo.map.MogoMap.Companion.mapInstance
+
+class PredictionDataManager private constructor() {
+
+    companion object {
+        private const val TAG = "PredictionDataManager"
+        private const val MSG_CHECK = 0
+        private const val MSG_DATA_POINTS_0 = 1
+        private const val MSG_DATA_POINTS_1 = 2
+
+        @Volatile
+        private var sInstance: PredictionDataManager? = null
+        fun getInstance(): PredictionDataManager? {
+            if (sInstance == null) {
+                synchronized(PredictionDataManager::class.java) {
+                    if (sInstance == null) {
+                        sInstance = PredictionDataManager()
+                    }
+                }
+            }
+            return sInstance
+        }
+    }
+
+    private var frequentHandler: FrequentHandler? = null
+
+    private var lastUpdateTime = 0L
+
+    /**
+     * 高精地图宽、高
+     */
+    @Volatile
+    var mapWidth = 808
+    @Volatile
+    var mapHeight = 1300
+
+    /**
+     * 决策地图宽、高
+     */
+    @Volatile
+    var decWidth = 238
+    @Volatile
+    var decHeight = 458
+
+    init {
+        val frequentThread = HandlerThread("prediction_thread")
+        frequentThread.start()
+        frequentHandler = FrequentHandler(frequentThread.looper)
+        frequentHandler?.sendEmptyMessageDelayed(MSG_CHECK, 1000)
+    }
+
+    fun updateData(dataList: List<geometry.Geometry.Point>, index: Int = 0) {
+        val type = if (index == 0) MSG_DATA_POINTS_0 else MSG_DATA_POINTS_1
+        frequentHandler?.removeMessages(type)
+        val message = Message.obtain()
+        message.what = type
+        message.obj = dataList
+        frequentHandler?.sendMessage(message)
+    }
+
+    fun release() {
+    }
+
+    private inner class FrequentHandler(looper: Looper) : Handler(looper) {
+        override fun handleMessage(msg: Message) {
+            super.handleMessage(msg)
+            when (msg.what) {
+                MSG_DATA_POINTS_0, MSG_DATA_POINTS_1 -> {
+                    val list = getDataList(msg.obj)
+                    lastUpdateTime = System.currentTimeMillis()
+                    CallerAutopilotIdentifyListenerManager.invokePreScrPointsChanged(list, if (msg.what == MSG_DATA_POINTS_0) 0 else 2)
+                }
+                MSG_CHECK -> {
+                    val time = System.currentTimeMillis()
+                    if (lastUpdateTime > 0 && time - lastUpdateTime >= 1000) {
+                        CallerAutopilotIdentifyListenerManager.invokePreScrPointsChanged(floatArrayOf(), 0)
+                        CallerAutopilotIdentifyListenerManager.invokePreScrPointsChanged(floatArrayOf(), 2)
+                    }
+                    sendEmptyMessageDelayed(MSG_CHECK, 1000)
+                }
+            }
+        }
+
+        private fun getDataList(obj: Any): FloatArray {
+            val mogoMap = mapInstance.getMogoMap(MogoMap.DEFAULT) ?: return floatArrayOf()
+            val list = obj as List<geometry.Geometry.Point>
+            val lonLatList = ArrayList<android.graphics.Point>()
+            var arr: DoubleArray?
+            var point: android.graphics.Point?
+            list.forEachIndexed { index, poi ->
+                if (index > 45) return@forEachIndexed
+                arr = mogoMap.switchData(poi.x, poi.y, false)// UTM转wgs84
+                if (arr == null || arr!!.size < 2) return@forEachIndexed
+                point = mogoMap.toScreenLocation(arr!![0], arr!![1])// wgs84转屏幕坐标
+                if (point == null) return@forEachIndexed
+                lonLatList.add(point!!)
+                Log.d(TAG, "预测数据的屏幕坐标为:(${point!!.x},${point!!.y})")
+            }
+            if (lonLatList.size > 0) {
+                val points = FloatArray(lonLatList.size * 2)
+                var x = 0f
+                var y = 0f
+                var offset = 0f
+                for (i in 0 until lonLatList.size) {
+                    x = lonLatList[i].x * decWidth / mapWidth.toFloat()
+                    points[i * 2] = x
+
+                    y = (decHeight + 14 - lonLatList[i].y * decHeight / mapHeight).toFloat()
+                    if (i == 0) {
+                        offset = decHeight * 0.78f - y// carBitmapTop等于height * 0.78，offset = carBitmapTop - 1stY
+                    }
+                    points[i * 2 + 1] = y + offset
+                    Log.d(TAG, "预测数据转换后的屏幕坐标为：(${x},${y})")
+                }
+                return points
+            } else {
+                return floatArrayOf()
+            }
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/PredictionOverlayDrawer.java
@@ -140,15 +140,15 @@ public class PredictionOverlayDrawer {
                    if (mPolylineOptions == null) {
                        builder = new Polyline.Options.Builder("pred_overlay", Level.GUIDE_ROUTE_LINE)
                                .setUseGps(true)
-                                .setWidth(5)
+                                .setWidth(4)
                                .setIsGradient(true);
                    } else {
                        builder = mPolylineOptions.builder();
                    }
-                    builder.color(Color.rgb(196, 196, 196));
-                    builder.setIsGradient(false);
+                    builder.color(Color.argb(102,48,163,255));
+                    builder.setIsGradient(true);
                    builder.setLightOn(false);
-                    builder.setIsDottedLine(false);
+                    builder.setIsDottedLine(true);
                    builder.isShowArrow(false);
                    builder.points(pps);
                    builder.setVisible(true);
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/CoordinateAnimationView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/CoordinateAnimationView.kt
@@ -0,0 +1,729 @@
+package com.mogo.eagle.core.function.view
+
+import android.content.Context
+import android.graphics.Bitmap
+import android.graphics.BitmapFactory
+import android.graphics.Canvas
+import android.graphics.Color
+import android.graphics.DashPathEffect
+import android.graphics.Paint
+import android.graphics.Path
+import android.graphics.RectF
+import android.util.AttributeSet
+import android.util.Log
+import android.view.SurfaceHolder
+import android.view.SurfaceView
+import android.view.View
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.business.routeoverlay.DecisionDataManager
+import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
+import com.mogo.eagle.core.function.map.R
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import me.jessyan.autosize.utils.AutoSizeUtils
+import kotlin.math.min
+
+class CoordinateAnimationView @JvmOverloads constructor(
+    context: Context?,
+    attrs: AttributeSet? = null
+) :
+    SurfaceView(context, attrs), SurfaceHolder.Callback, IMoGoAutopilotIdentifyListener {
+
+    companion object {
+        private const val TAG = "CoordinateAnimationView"
+
+        private const val UPDATE_INTERVAL = 1000 // 数据更新间隔(ms)
+        private const val MAX_POINTS = 500 // 最大点数
+        private const val BUFFER_SIZE = MAX_POINTS * 2 // x,y坐标交替存储
+        private const val FPS = 25
+    }
+
+    private var surfaceHolder: SurfaceHolder? = null
+    private var animationThread: AnimationThread? = null
+
+    private var bufferA: Array<Point?>? = null
+    private var bufferB: Array<Point?>? = null
+    private var controlPoints: FloatArray? = null // 控制点缓冲区
+    private var activePointCount = 0
+
+    @Volatile
+    private var activeBufferIndex = 0
+
+    @Volatile
+    private var drawingBufferIndex = 0
+
+    private var lastUpdateTime: Long = 0
+    private var costTime: Long = 0
+    private var fpsInterval: Int = 1000 / FPS
+
+    @Volatile
+    private var dataChanged = false // 数据变化标志
+
+    @Volatile
+    private var isRunning = false
+    @Volatile
+    private var isVisible = false
+    private var bezierPath: Path? = null // 贝塞尔曲线路径
+    private var curvePaint: Paint? = null
+    private var carPaint: Paint? = null
+
+    //    private var circlePaint: Paint? = null
+    private var visibleRect: RectF? = null // 可见区域
+    private var strokeWidth = 16f
+
+    private var carBitmap: Bitmap? = null
+
+    // 虚线相关参数
+    private val DASH_LENGTH: Float = 46f // 虚线线段长度
+    private val DASH_GAP: Float = 80f // 虚线间隔
+    private val DASH_SPEED: Float = 8f // 虚线移动速度
+    private var dashOffsetY = 0f // 虚线Y轴偏移量
+    private var dashStrokeWidth = 3.6f
+    private var dashPaint: Paint? = null // 虚线画笔
+
+    private val leftPath by lazy {
+        Path()
+    }
+
+    private val rightPath by lazy {
+        Path()
+    }
+
+    private var index: Int = 1
+
+    init {
+        init(attrs)
+    }
+
+    private fun init(attrs: AttributeSet?) {
+        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.CoordinateAnimationView)
+        index = typedArray.getInt(R.styleable.CoordinateAnimationView_map_index, 1)
+        typedArray.recycle()
+        Log.d(TAG, "初始化地图的index为:${index}")
+
+        surfaceHolder = holder
+        surfaceHolder!!.addCallback(this)
+
+        curvePaint = Paint()
+        carPaint = Paint()
+        carPaint!!.isFilterBitmap = false
+        carPaint!!.isAntiAlias = true
+        carBitmap = getOriginBitmap(
+            R.drawable.decision_car_icon,
+            AutoSizeUtils.dp2px(context, 128f),
+            AutoSizeUtils.dp2px(context, 280f)
+        )
+
+        curvePaint!!.setARGB(102, 48, 163, 255)
+//        curvePaint!!.shader = LinearGradient(
+//            50f, 100f, 750f, 100f,
+//            intArrayOf(0x0FFF0000, 0xFF00FF00.toInt(), 0x0F0000FF),
+//            floatArrayOf(0f, 0.5f, 1f),
+//            Shader.TileMode.CLAMP
+//        )
+        curvePaint!!.style = Paint.Style.STROKE
+        curvePaint!!.strokeWidth = strokeWidth
+        // 一定要设置抗锯齿，否则画贝塞尔曲线时会出现很多白色分割线
+        curvePaint!!.isAntiAlias = true
+        // 线段连接处为圆弧
+        curvePaint!!.strokeJoin = Paint.Join.ROUND
+        // 设置线冒样式
+        curvePaint!!.strokeCap = Paint.Cap.SQUARE
+
+        // 初始化虚线
+        dashPaint = Paint()
+        dashPaint!!.setColor(Color.WHITE)
+        dashPaint!!.style = Paint.Style.STROKE
+        dashPaint!!.strokeWidth = dashStrokeWidth
+        dashPaint!!.isAntiAlias = true
+        dashPaint!!.pathEffect = DashPathEffect(floatArrayOf(DASH_LENGTH, DASH_GAP), 0f)
+
+        bufferA = arrayOfNulls(MAX_POINTS)
+        bufferB = arrayOfNulls(MAX_POINTS)
+
+        for (i in 0 until MAX_POINTS) {
+            bufferA!![i] = Point()
+            bufferB!![i] = Point()
+        }
+
+        bezierPath = Path()
+        dataChanged = false
+        controlPoints = FloatArray(MAX_POINTS * 4)// 按照三阶贝塞尔曲线来创建
+        visibleRect = RectF()
+
+        // 启用硬件加速
+        setLayerType(LAYER_TYPE_HARDWARE, null)
+    }
+
+    private fun getOriginBitmap(resId: Int, desWidth: Int, desHeight: Int): Bitmap {
+        val bitmap = BitmapFactory.decodeResource(resources, resId)
+        val scaleWidth = (bitmap.width * 2)
+        val scaleHeight = (bitmap.height * 2)
+        Log.d(TAG, "$index-Bitmap width:$scaleWidth,height:$scaleHeight")
+        return Bitmap.createScaledBitmap(
+            bitmap, scaleWidth,
+            scaleHeight, true
+        )
+
+//        val options = BitmapFactory.Options()
+//        options.inJustDecodeBounds = true
+//        BitmapFactory.decodeResource(resources, resId, options)
+//        var inSampleSize = 1
+//        if (options.outHeight > desHeight || options.outWidth > desWidth) {
+//            while ((options.outHeight / 2 / inSampleSize) >= desHeight && (options.outWidth / inSampleSize) >= desWidth) {
+//                inSampleSize *= 2// 每次翻倍，保证是 2 的幂次
+//            }
+//        }
+//        options.inJustDecodeBounds = false
+//        options.inSampleSize = inSampleSize
+//        return BitmapFactory.decodeResource(resources, resId, options)
+    }
+
+    fun setVisible(isVisible: Boolean) {
+        this.isVisible = isVisible
+    }
+
+    override fun surfaceCreated(holder: SurfaceHolder) {
+        animationThread = AnimationThread()
+        animationThread!!.start()
+        isRunning = true
+        CallerAutopilotIdentifyListenerManager.addListener("${TAG}${this.hashCode()}", this)
+    }
+
+    override fun surfaceChanged(holder: SurfaceHolder, format: Int, width: Int, height: Int) {
+        val margin = strokeWidth * 2
+        // 处理Surface尺寸变化
+        visibleRect!!.set(margin, margin, width - margin, height - margin)
+    }
+
+    override fun surfaceDestroyed(holder: SurfaceHolder) {
+        isRunning = false
+        var retry = true
+        while (retry) {
+            try {
+                animationThread!!.join()
+                retry = false
+            } catch (e: InterruptedException) {
+                e.printStackTrace()
+            }
+        }
+        CallerAutopilotIdentifyListenerManager.removeListener("${TAG}${this.hashCode()}")
+        carBitmap?.recycle()
+        carBitmap = null
+        bufferA = null
+        bufferB = null
+        controlPoints = null
+    }
+
+    override fun onVisibilityChanged(changedView: View, visibility: Int) {
+        super.onVisibilityChanged(changedView, visibility)
+        val name = changedView.javaClass.simpleName
+        if (name == TAG || name == "ConstraintLayout") {
+            isVisible = visibility == View.VISIBLE
+        }
+    }
+
+    override fun screenPointsChanged(data: FloatArray, index: Int) {
+        if (index == this.index) {
+            updatePoints(data)
+        }
+    }
+
+    override fun preScrPointsChanged(data: FloatArray, index: Int) {
+        if (index == this.index) {
+            updatePoints(data)
+        }
+    }
+
+    private fun updatePoints(newPoints: FloatArray) {
+        if (!isRunning) {
+            Log.d(TAG, "$index-渲染线程未启动")
+            return
+        }
+        if (bufferA == null || bufferB == null) {
+            Log.d(TAG, "$index-updatePoints->缓冲区未初始化完成!")
+            return
+        }
+        // 获取可用缓冲区
+        val targetBuffer: Array<Point?> = if ((drawingBufferIndex == 0)) bufferB!! else bufferA!!
+
+        // 重置目标缓冲区
+        for (i in 0 until MAX_POINTS) {
+            targetBuffer[i]?.reset()
+        }
+
+        // 填充新数据(不能超过最大点数)
+        val count = min(newPoints.size / 2, MAX_POINTS)
+        var p: Point?
+        for (i in 0 until count) {
+            p = targetBuffer[i]
+            p?.set(newPoints[i * 2], newPoints[i * 2 + 1])
+        }
+
+        activePointCount = count
+        activeBufferIndex = if (drawingBufferIndex == 0) 1 else 0
+        dataChanged = true
+
+        Log.d(TAG, "$index-数据已更新!")
+    }
+
+    private fun drawMovingDashedPath(canvas: Canvas?) {
+        if (canvas == null) {
+            Log.d(TAG, "$index-画布为null!")
+            return
+        }
+        Log.d(TAG, "$index-开始绘制虚线!")
+        leftPath.rewind()
+        rightPath.rewind()
+
+        // 两条虚线的X坐标（左右对称）
+        val leftLineX = width * 0.2f
+        val rightLineX = width * 0.8f
+
+        // 计算当前虚线的偏移量（取模运算确保在一个周期内）
+        val offset = dashOffsetY % (DASH_LENGTH + DASH_GAP)
+
+        // 绘制多条虚线线段，确保覆盖整个屏幕
+        var y = offset
+        var endY = 0f
+        while (y < height + DASH_LENGTH + DASH_GAP) {
+            endY = min(y + DASH_LENGTH, height.toFloat())
+
+            leftPath.moveTo(leftLineX, y)
+            leftPath.lineTo(leftLineX, endY)
+            rightPath.moveTo(rightLineX, y)
+            rightPath.lineTo(rightLineX, endY)
+
+            y += DASH_LENGTH + DASH_GAP// 步长
+        }
+        canvas.drawPath(leftPath, dashPaint!!)
+        canvas.drawPath(rightPath, dashPaint!!)
+
+        // 更新虚线偏移量
+        dashOffsetY += DASH_SPEED
+        if (dashOffsetY > DASH_LENGTH + DASH_GAP) {
+            dashOffsetY -= (DASH_LENGTH + DASH_GAP)
+        }
+    }
+
+    private fun drawCar(canvas: Canvas?) {
+        if (canvas == null) {
+            Log.d(TAG, "$index-画布为null!")
+            return
+        }
+        canvas.drawBitmap(carBitmap!!, (width - carBitmap!!.width) / 2f, height * 0.78f, carPaint!!)
+    }
+
+    private fun drawPath(canvas: Canvas?) {
+        if (canvas == null) {
+            Log.d(TAG, "$index-画布为null!")
+            return
+        }
+        // 获取当前活跃的缓冲区
+        val currentBuffer = if (activeBufferIndex == 0) bufferA else bufferB
+        drawingBufferIndex = activeBufferIndex
+
+        // 绘制轨迹
+        if (dataChanged) {
+            bezierPath?.rewind()
+            if (activePointCount > 0) {
+                // 计算贝塞尔曲线的控制点(二阶贝塞尔曲线性能更好)
+//                calculateControlPoints(currentBuffer, activePointCount, controlPoints!!)
+                calculateControlPoints2ndKind(currentBuffer, activePointCount, controlPoints!!)
+
+                // 使用可见区域裁剪的贝塞尔曲线
+//                drawClippedBezierPath(currentBuffer, activePointCount, controlPoints!!)
+                drawClippedBezier2ndKindPath(currentBuffer, activePointCount, controlPoints!!)
+            }
+            dataChanged = false
+        } else {
+            Log.d(TAG, "$index-数据未更新:${dataChanged}或无有效的点:${activePointCount}")
+        }
+        // 绘制贝塞尔曲线
+        canvas.drawPath(bezierPath!!, curvePaint!!)
+        Log.d(TAG, "=====$index-渲染贝塞尔曲线完成!=====")
+
+//        if (currentBuffer == null) {
+//            Log.d(TAG, "currentBuffer未初始化完成!")
+//            return
+//        }
+//        canvas.drawCircle(currentBuffer[0]!!.x, currentBuffer[0]!!.y, 30f, circlePaint!!)
+    }
+
+    // 绘制可见区域内的贝塞尔曲线
+    private fun drawClippedBezierPath(
+        points: Array<Point?>?,
+        count: Int,
+        controlPoints: FloatArray
+    ) {
+        if (points.isNullOrEmpty()) {
+            Log.d(TAG, "$index-贝塞尔曲线点的个数为空，返回!")
+            return
+        }
+        var isFirstPoint = true
+        var wasLastPointVisible = false
+        var p: Point?
+        var nextPoint: Point?
+        var currentPointVisible = false
+        var nextPointVisible = false
+        var controlIndex: Int
+        var x: Float
+        var y: Float
+        var nextX: Float
+        var nextY: Float
+        var intersection: FloatArray?
+
+        for (i in 0 until count - 1) {
+            p = points[i]
+            nextPoint = points[i + 1]
+            if (p == null || nextPoint == null) continue
+            x = p.x
+            y = p.y
+            nextX = nextPoint.x
+            nextY = nextPoint.y
+
+            // 检查当前点和下一个点是否在可见区域内
+            currentPointVisible = isPointVisible(x, y)
+            nextPointVisible = isPointVisible(nextX, nextY)
+            controlIndex = i * 2
+            // 处理可见性变化
+            if (currentPointVisible || nextPointVisible) {
+                // 如果是第一个可见点，移动到该点
+                if (isFirstPoint) {
+                    bezierPath!!.moveTo(x, y)
+                    isFirstPoint = false
+                }
+                // 如果当前点和下一个点都可见，直接连接
+                if (currentPointVisible && nextPointVisible) {
+                    bezierPath!!.cubicTo(
+                        controlPoints[controlIndex], controlPoints[controlIndex + 1],
+                        controlPoints[controlIndex + 2], controlPoints[controlIndex + 3],
+                        nextX, nextY
+                    )
+                } else if (currentPointVisible && !nextPointVisible) {
+//                    intersection = findIntersection(x, y, nextX, nextY)
+//                    if (intersection != null) {
+//                        bezierPath!!.lineTo(intersection[0], intersection[1])
+//                    }
+                    bezierPath!!.cubicTo(
+                        controlPoints[controlIndex], controlPoints[controlIndex + 1],
+                        controlPoints[controlIndex + 2], controlPoints[controlIndex + 3],
+                        nextX, nextY
+                    )
+                } else if (!currentPointVisible && nextPointVisible) {
+//                    intersection = findIntersection(nextX, nextY, x, y)
+//                    if (intersection != null) {
+//                        bezierPath!!.moveTo(intersection[0], intersection[1])
+//                        bezierPath!!.cubicTo(
+//                            controlPoints[controlIndex], controlPoints[controlIndex + 1],
+//                            controlPoints[controlIndex + 2], controlPoints[controlIndex + 3],
+//                            nextX, nextY
+//                        )
+//                    }
+                    bezierPath!!.cubicTo(
+                        controlPoints[controlIndex], controlPoints[controlIndex + 1],
+                        controlPoints[controlIndex + 2], controlPoints[controlIndex + 3],
+                        nextX, nextY
+                    )
+                }
+                wasLastPointVisible = true
+            } else {
+                // 如果连续不可见点，重置路径状态
+                if (wasLastPointVisible) {
+                    isFirstPoint = true
+                }
+                wasLastPointVisible = false
+            }
+        }
+    }
+
+    // 计算贝塞尔曲线的控制点
+    private fun calculateControlPoints(
+        points: Array<Point?>?,
+        count: Int,
+        controlPoints: FloatArray
+    ) {
+        if (count < 3 || points.isNullOrEmpty()) {
+            Log.d(TAG, "$index-点的个数小于3，无法绘制贝塞尔曲线!")
+            return// 至少需要3个点才能计算控制点
+        }
+        var prev: Point?
+        var current: Point?
+        var next: Point?
+        var controlIndex: Int
+        // 使用相邻点的中点作为控制点
+        for (i in 1 until count - 1) {
+            prev = points[i - 1]
+            current = points[i]
+            next = points[i + 1]
+            controlIndex = i * 2
+            if (current == null || prev == null || next == null) continue
+
+            // 第一个控制点：当前点和前一个点的中点
+            controlPoints[controlIndex] = (current.x + prev.x) / 2
+            controlPoints[controlIndex + 1] = (current.y + prev.y) / 2
+
+            // 第二个控制点：当前点和下一个点的中点
+            controlPoints[controlIndex + 2] = (current.x + next.x) / 2
+            controlPoints[controlIndex + 3] = (current.y + next.y) / 2
+        }
+        if (points[0] == null || points[count - 2] == null) return
+        // 特殊处理第一个和最后一个控制点
+        controlPoints[0] = points[0]!!.x
+        controlPoints[1] = points[0]!!.y
+
+        val lastIndex = (count - 2) * 2
+        controlPoints[lastIndex] = points[count - 2]!!.x
+        controlPoints[lastIndex + 1] = points[count - 2]!!.y
+    }
+
+    // 计算二阶贝塞尔曲线的控制点
+    private fun calculateControlPoints2ndKind(
+        points: Array<Point?>?,
+        count: Int,
+        controlPoints: FloatArray
+    ) {
+        if (count < 2 || points.isNullOrEmpty()) return  // 至少需要2个点才能计算控制点
+        var current: Point?
+        var next: Point?
+        var controlIndex: Int
+        var dx: Float
+        var dy: Float
+        // 简单算法：使用相邻点的中点作为控制点
+        for (i in 0 until count - 1) {
+            current = points[i]
+            next = points[i + 1]
+            if (current == null || next == null) continue
+            controlIndex = i * 2
+
+            // 控制点：当前点和下一个点之间的中点，增加一定偏移使曲线更平滑
+            dx = next.x - current.x
+            dy = next.y - current.y
+
+            // 控制点位置 = 中点 + 一定比例的方向向量（使曲线更平滑）
+            controlPoints[controlIndex] = current.x + dx * 0.5f
+            controlPoints[controlIndex + 1] = current.y + dy * 0.5f
+        }
+    }
+
+    /**
+     * 绘制可见区域内的二阶贝塞尔曲线
+     */
+    private fun drawClippedBezier2ndKindPath(
+        points: Array<Point?>?,
+        count: Int,
+        controlPoints: FloatArray
+    ) {
+        if (points.isNullOrEmpty()) {
+            Log.d(TAG, "$index-贝塞尔曲线点的个数为空，返回!")
+            return
+        }
+        var isFirstPoint = true
+        var wasLastPointVisible = false
+//        var hasPath = false
+
+        var p: Point?
+        var nextPoint: Point?
+        for (i in 0 until count - 1) {
+            p = points[i]
+            nextPoint = points[i + 1]
+            if (p == null || nextPoint == null) continue
+            val x = p.x
+            val y = p.y
+            val nextX = nextPoint.x
+            val nextY = nextPoint.y
+
+            // 检查当前点和下一个点是否在可见区域内
+            val currentPointVisible = isPointVisible(x, y)
+            val nextPointVisible = isPointVisible(nextX, nextY)
+
+            // 处理可见性变化
+            if (currentPointVisible || nextPointVisible) {
+                // 如果是第一个可见点，移动到该点
+                if (isFirstPoint) {
+//                    bezierPath!!.moveTo(x-strokeWidth/4, y)
+                    bezierPath!!.moveTo(x, y)
+                    isFirstPoint = false
+//                    hasPath = true
+                }
+
+                // 如果当前点和下一个点都可见，直接连接
+                if (currentPointVisible && nextPointVisible) {
+                    // 使用二阶贝塞尔曲线：quadTo方法(控制点x, 控制点y, 终点x, 终点y)
+                    bezierPath!!.quadTo(
+                        controlPoints[i * 2], controlPoints[i * 2 + 1],
+                        nextX, nextY
+                    )
+//                    hasPath = true
+                } else if (currentPointVisible && !nextPointVisible) {
+//                    val intersection = findIntersection(x, y, nextX, nextY)
+//                    if (intersection != null) {
+//                        bezierPath!!.lineTo(intersection[0], intersection[1])
+////                        hasPath = true
+//                    }
+                    bezierPath!!.lineTo(
+                        controlPoints[i * 2], controlPoints[i * 2 + 1],
+                    )
+                } else if (!currentPointVisible && nextPointVisible) {
+//                    val intersection = findIntersection(nextX, nextY, x, y)
+//                    if (intersection != null) {
+//                        bezierPath!!.moveTo(intersection[0], intersection[1])
+//                        // 绘制二阶贝塞尔曲线
+//                        val controlIndex = i * 2
+//                        bezierPath!!.quadTo(
+//                            controlPoints[controlIndex], controlPoints[controlIndex + 1],
+//                            nextX, nextY
+//                        )
+////                        hasPath = true
+//                    }
+                    bezierPath!!.lineTo(
+                        controlPoints[i * 2], controlPoints[i * 2 + 1],
+                    )
+                }
+                wasLastPointVisible = true
+            } else {
+                // 如果连续不可见点，重置路径状态
+                if (wasLastPointVisible) {
+                    isFirstPoint = true
+                }
+                wasLastPointVisible = false
+            }
+        }
+//        if (count > 1 && hasPath) {
+//            val lastPoint = points[count - 1] ?: return
+//            val endX = lastPoint.x
+//            val endY = lastPoint.y
+//
+//            // 添加一个微小的延伸，确保终点形状为方形
+//            if (isPointVisible(endX, endY)) {
+//                bezierPath!!.lineTo(endX + strokeWidth / 4, endY)
+//            }
+//        }
+        Log.d(TAG, "=======$index-绘制二阶贝塞尔曲线完成=======!")
+    }
+
+    /**
+     * 绘制二阶贝塞尔曲线
+     */
+    private fun drawBezierPath2ndKind(count: Int) {
+
+        Log.d(TAG, "=======$index-绘制二阶贝塞尔曲线完成=======!")
+    }
+
+    // 检查点是否在可见区域内（考虑线宽）
+    private fun isPointVisible(x: Float, y: Float): Boolean {
+        val extraMargin = strokeWidth / 2
+        return visibleRect!!.contains(x, y) ||
+                visibleRect!!.let {
+                    it.inset(-extraMargin, -extraMargin)// 扩大(使用负数)边界以考虑线宽
+                    it.contains(x, y)
+                }
+    }
+
+    // 计算线段与可见区域的交点
+    private fun findIntersection(x1: Float, y1: Float, x2: Float, y2: Float): FloatArray? {
+//        // 简化版：只检查线段与可见区域边界的交点
+//        // 实际应用中可能需要更复杂的贝塞尔曲线与矩形的交点计算
+//
+//        // 检查与左边界的交点
+//        if ((x1 < visibleRect!!.left && x2 >= visibleRect!!.left) ||
+//            (x1 >= visibleRect!!.left && x2 < visibleRect!!.left)
+//        ) {
+//            val t = (visibleRect!!.left - x1) / (x2 - x1)
+//            val y = y1 + t * (y2 - y1)
+//            if (y >= visibleRect!!.top && y <= visibleRect!!.bottom) {
+//                return floatArrayOf(visibleRect!!.left, y)
+//            }
+//        }
+//
+//        // 检查与右边界的交点
+//        if ((x1 < visibleRect!!.right && x2 >= visibleRect!!.right) ||
+//            (x1 >= visibleRect!!.right && x2 < visibleRect!!.right)
+//        ) {
+//            val t = (visibleRect!!.right - x1) / (x2 - x1)
+//            val y = y1 + t * (y2 - y1)
+//            if (y >= visibleRect!!.top && y <= visibleRect!!.bottom) {
+//                return floatArrayOf(visibleRect!!.right, y)
+//            }
+//        }
+//
+//        // 检查与上边界的交点
+//        if ((y1 < visibleRect!!.top && y2 >= visibleRect!!.top) ||
+//            (y1 >= visibleRect!!.top && y2 < visibleRect!!.top)
+//        ) {
+//            val t = (visibleRect!!.top - y1) / (y2 - y1)
+//            val x = x1 + t * (x2 - x1)
+//            if (x >= visibleRect!!.left && x <= visibleRect!!.right) {
+//                return floatArrayOf(x, visibleRect!!.top)
+//            }
+//        }
+//
+//        // 检查与下边界的交点
+//        if ((y1 < visibleRect!!.bottom && y2 >= visibleRect!!.bottom) ||
+//            (y1 >= visibleRect!!.bottom && y2 < visibleRect!!.bottom)
+//        ) {
+//            val t = (visibleRect!!.bottom - y1) / (y2 - y1)
+//            val x = x1 + t * (x2 - x1)
+//            if (x >= visibleRect!!.left && x <= visibleRect!!.right) {
+//                return floatArrayOf(x, visibleRect!!.bottom)
+//            }
+//        }
+
+        return null // 没有交点
+    }
+
+    private inner class AnimationThread : Thread() {
+        override fun run() {
+            var canvas: Canvas?
+            lastUpdateTime = System.currentTimeMillis()
+
+            while (isRunning) {
+                if (isVisible) {
+                    canvas = null
+                    try {
+                        canvas = surfaceHolder!!.lockCanvas()
+                        synchronized(surfaceHolder!!) {
+                            // 绘制
+                            Log.d(TAG, "$index-准备绘制!")
+                            // 清屏
+                            canvas?.drawColor(Color.rgb(231, 235, 238))
+                            drawMovingDashedPath(canvas)
+                            drawPath(canvas)
+                            drawCar(canvas)
+                        }
+                    } finally {
+                        if (canvas != null) {
+                            surfaceHolder!!.unlockCanvasAndPost(canvas)
+                        }
+                    }
+                }
+
+                try {
+                    costTime = fpsInterval - System.currentTimeMillis() + lastUpdateTime
+                    if (costTime > 0) {
+                        sleep(costTime)
+                    }
+                } catch (e: InterruptedException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    // 轨迹点对象（可复用）
+    class Point {
+        var x: Float = 0f
+        var y: Float = 0f
+        var isActive: Boolean = false
+
+        fun set(x: Float, y: Float) {
+            this.x = x
+            this.y = y
+            this.isActive = true
+        }
+
+        fun reset() {
+            this.isActive = false
+        }
+    }
+}
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/DecisionLayout.kt
@@ -7,15 +7,16 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
+import com.mogo.eagle.core.function.business.routeoverlay.DecisionDataManager
+import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotIdentifyListenerManager
 import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
-import kotlinx.android.synthetic.main.layout_decision_container.view.decMapView
-import kotlinx.android.synthetic.main.layout_decision_container.view.preDetailView2
-import kotlinx.android.synthetic.main.layout_decision_container.view.preDetailView3
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre1
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre2
 import kotlinx.android.synthetic.main.layout_decision_container.view.tvPre3
+import me.jessyan.autosize.utils.AutoSizeUtils

 class DecisionLayout @JvmOverloads constructor(
    context: Context,
@@ -29,31 +30,40 @@ class DecisionLayout @JvmOverloads constructor(
    @Volatile
    private var lastTime = 0L

+    private var carType = 0
+
    init {
-        LayoutInflater.from(context).inflate(R.layout.layout_decision_container, this, true)
-        initView()
+        initView(attrs)
    }

-    private fun initView() {
+    private fun initView(attrs: AttributeSet?) {
+        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.CarMapLayout)
+        carType = typedArray.getInt(R.styleable.CarMapLayout_car_type, 0)
+        typedArray.recycle()
+        when (carType) {
+            0 -> LayoutInflater.from(context).inflate(R.layout.layout_decision_container, this, true)
+            else -> LayoutInflater.from(context).inflate(R.layout.layout_b2_decision_container, this, true)
+        }
+        storeWidthAndHeight()
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
        CallerAutopilotIdentifyListenerManager.addListener(TAG, this)
    }

+    override fun onDetachedFromWindow() {
+        super.onDetachedFromWindow()
+        CallerAutopilotIdentifyListenerManager.removeListener(TAG)
+    }
+
    fun onCreate(savedInstanceState: Bundle?) {
-        decMapView.onCreate(savedInstanceState)
-        preDetailView2.onCreate(savedInstanceState)
-        preDetailView3.onCreate(savedInstanceState)
    }

    fun onSaveInstanceState(outState: Bundle) {
-        decMapView.onSaveInstanceState(outState)
-        preDetailView2.onSaveInstanceState(outState)
-        preDetailView3.onSaveInstanceState(outState)
    }

    fun onResume() {
-        decMapView.onResume()
-        preDetailView2.onResume()
-        preDetailView3.onResume()
    }

    @SuppressLint("SetTextI18n")
@@ -81,20 +91,33 @@ class DecisionLayout @JvmOverloads constructor(
    }

    fun onLowMemory() {
-        decMapView.onLowMemory()
-        preDetailView2.onLowMemory()
-        preDetailView3.onLowMemory()
    }

    fun onPause() {
-        decMapView.onPause()
-        preDetailView2.onPause()
-        preDetailView3.onPause()
    }

    fun onDestroy() {
-        decMapView.onDestroy()
-        preDetailView2.onDestroy()
-        preDetailView3.onDestroy()
+    }
+
+    private fun storeWidthAndHeight() {
+        UiThreadHandler.post {
+            when (carType) {
+                // 默认值为对应0，不需要赋值
+                1 -> {
+                    val decWid = AutoSizeUtils.dp2px(context, 110f)
+                    val decHet = AutoSizeUtils.dp2px(context, 211f)
+                    val mapWid = AutoSizeUtils.dp2px(context, 996f)
+                    val mapHet = AutoSizeUtils.dp2px(context, 650f)
+                    PredictionDataManager.getInstance()?.decWidth = decWid
+                    PredictionDataManager.getInstance()?.decHeight = decHet
+                    PredictionDataManager.getInstance()?.mapWidth = mapWid
+                    PredictionDataManager.getInstance()?.mapHeight = mapHet
+                    DecisionDataManager.getInstance()?.decWidth = decWid
+                    DecisionDataManager.getInstance()?.decHeight = decHet
+                    DecisionDataManager.getInstance()?.mapWidth = mapWid
+                    DecisionDataManager.getInstance()?.mapHeight = mapHet
+                }
+            }
+        }
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/MapBizView.kt
@@ -3,15 +3,20 @@ package com.mogo.eagle.core.function.view
 import android.content.Context
 import android.os.Bundle
 import android.util.AttributeSet
+import android.util.Log
 import androidx.lifecycle.LifecycleObserver
 import chassis.Chassis
 import com.mogo.eagle.core.data.config.FunctionBuildConfig.accThreshold
 import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationWGS84Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisStatesListener
+import com.mogo.eagle.core.function.business.routeoverlay.DecisionDataManager
+import com.mogo.eagle.core.function.business.routeoverlay.PredictionDataManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisStatesListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
+import com.mogo.eagle.core.function.view.CoordinateAnimationView.Companion
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.eagle.core.widget.media.video.TextureVideoViewOutlineProvider
 import com.mogo.map.MogoMap
 import com.mogo.map.MogoMapView
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionLayout.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionLayout.kt
@@ -6,42 +6,56 @@ import android.util.AttributeSet
 import android.view.LayoutInflater
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.function.map.R
-import kotlinx.android.synthetic.main.layout_prediction_container.view.preDetailView

 class PredictionLayout @JvmOverloads constructor(
    context: Context,
    attrs: AttributeSet? = null
 ) : ConstraintLayout(context, attrs) {
+
+    private var carType = 0
+    private var preDetailView: PredictionMapView? = null
+
    init {
-        LayoutInflater.from(context).inflate(R.layout.layout_prediction_container, this, true)
-        initView()
+        initView(attrs)
    }

-    private fun initView() {
-
+    private fun initView(attrs: AttributeSet?) {
+        val typedArray = context.obtainStyledAttributes(attrs, R.styleable.CarMapLayout)
+        carType = typedArray.getInt(R.styleable.CarMapLayout_car_type, 0)
+        typedArray.recycle()
+        when (carType) {
+            0 -> {
+                LayoutInflater.from(context).inflate(R.layout.layout_prediction_container, this, true)
+                preDetailView = findViewById(R.id.preDetailView)
+            }
+            else -> {
+                LayoutInflater.from(context).inflate(R.layout.layout_b2_prediction_container, this, true)
+                preDetailView = findViewById(R.id.preDetailView)
+            }
+        }
    }

    fun onCreate(savedInstanceState: Bundle?) {
-        preDetailView.onCreate(savedInstanceState)
+        preDetailView?.onCreate(savedInstanceState)
    }

    fun onSaveInstanceState(outState: Bundle) {
-        preDetailView.onSaveInstanceState(outState)
+        preDetailView?.onSaveInstanceState(outState)
    }

    fun onResume() {
-        preDetailView.onResume()
+        preDetailView?.onResume()
    }

    fun onLowMemory() {
-        preDetailView.onLowMemory()
+        preDetailView?.onLowMemory()
    }

    fun onPause() {
-        preDetailView.onPause()
+        preDetailView?.onPause()
    }

    fun onDestroy() {
-        preDetailView.onDestroy()
+        preDetailView?.onDestroy()
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap2View.kt
@@ -116,6 +116,6 @@ class PredictionMap2View(context: Context, attrs: AttributeSet) : MogoMapView(co

    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        // 跟新地图控件
-//        setExtraGPSData(gnssInfo)
+        setExtraGPSData(gnssInfo)
    }
 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMap3View.kt
@@ -116,7 +116,7 @@ class PredictionMap3View(context: Context, attrs: AttributeSet) : MogoMapView(co

    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        // 跟新地图控件
-//        setExtraGPSData(gnssInfo)
+        setExtraGPSData(gnssInfo)
    }

 }
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/PredictionMapView.kt
@@ -129,7 +129,7 @@ class PredictionMapView(context: Context, attrs: AttributeSet) : MogoMapView(con

    override fun onChassisLocationWGS84(gnssInfo: MogoLocation) {
        // 跟新地图控件
-//        setExtraGPSData(gnssInfo)
+        setExtraGPSData(gnssInfo)
        if (System.currentTimeMillis() - lastTime >= 5000) {
            // 预测给的UTM坐标数据没有带上度带信息，根据定位计算度带
            mapInstance.getMogoMap(MogoMap.DEFAULT)?.switchData(gnssInfo.longitude, gnssInfo.latitude, true)
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_b2_decision_container.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_b2_decision_container.xml
@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
+
+    <com.mogo.eagle.core.function.view.CoordinateAnimationView
+        android:id="@+id/preDetailView2"
+        android:layout_width="110dp"
+        android:layout_height="211dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginStart="@dimen/dp_12"
+        android:layout_marginBottom="11dp"
+        app:map_index="0"
+        />
+
+    <com.mogo.eagle.core.function.view.CoordinateAnimationView
+        android:id="@+id/decMapView"
+        android:layout_width="110dp"
+        android:layout_height="211dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginBottom="11dp"
+        app:map_index="1"
+        />
+
+    <com.mogo.eagle.core.function.view.CoordinateAnimationView
+        android:id="@+id/preDetailView3"
+        android:layout_width="110dp"
+        android:layout_height="211dp"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginEnd="@dimen/dp_12"
+        android:layout_marginBottom="11dp"
+        app:map_index="2"
+        />
+
+    <TextView
+        android:id="@+id/tvDecTitle"
+        android:layout_width="wrap_content"
+        android:layout_height="@dimen/dp_36"
+        android:text="AIP 规划与决策"
+        android:textColor="#394047"
+        android:textSize="24dp"
+        android:textStyle="bold"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="@dimen/dp_7"
+        />
+
+    <TextView
+        android:id="@+id/tvPre1"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvDecTitle"
+        android:layout_marginStart="@dimen/dp_49"
+        android:layout_marginTop="@dimen/dp_43"
+        android:text="11%"
+        android:textColor="#63707D"
+        android:textSize="20dp"
+        />
+
+    <TextView
+        android:id="@+id/tvPre2"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvDecTitle"
+        android:layout_marginTop="@dimen/dp_43"
+        android:text="86%"
+        android:textColor="#63707D"
+        android:textSize="20dp"
+        />
+
+    <TextView
+        android:id="@+id/tvPre3"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/tvDecTitle"
+        android:layout_marginEnd="@dimen/dp_51"
+        android:layout_marginTop="@dimen/dp_43"
+        android:text="3%"
+        android:textColor="#63707D"
+        android:textSize="20dp"
+        />
+</merge>
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_b2_prediction_container.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_b2_prediction_container.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="utf-8"?>
+<merge xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    xmlns:tools="http://schemas.android.com/tools"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">
+
+    <TextView
+        android:layout_width="wrap_content"
+        android:layout_height="@dimen/dp_36"
+        android:text="Prediction 预测"
+        android:textColor="#394047"
+        android:textSize="@dimen/dp_24"
+        android:textStyle="bold"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        android:layout_marginTop="@dimen/dp_8"
+        />
+
+    <com.mogo.eagle.core.function.view.PredictionMapView
+        android:id="@+id/preDetailView"
+        android:layout_width="348dp"
+        android:layout_height="230dp"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintBottom_toBottomOf="parent"
+        android:layout_marginBottom="12dp"
+        app:carPosition="6"
+        app:isAutoLocation="false"
+        app:isDisplayAnim="false"
+        app:isWeatherEnable="false"
+        app:styleMode="MAP_STYLE_DAY_VR_AIP"
+        app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />
+</merge>
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_decision_container.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_decision_container.xml
@@ -6,7 +6,7 @@
    android:layout_height="match_parent"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">

-    <com.mogo.eagle.core.function.view.PredictionMap2View
+    <com.mogo.eagle.core.function.view.CoordinateAnimationView
        android:id="@+id/preDetailView2"
        android:layout_width="238dp"
        android:layout_height="458dp"
@@ -14,14 +14,10 @@
        app:layout_constraintBottom_toBottomOf="parent"
        android:layout_marginStart="@dimen/dp_27"
        android:layout_marginBottom="24dp"
-        app:carPosition="6"
-        app:isAutoLocation="false"
-        app:isDisplayAnim="false"
-        app:isWeatherEnable="false"
-        app:styleMode="MAP_STYLE_DAY_VR_AIP"
-        app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />
+        app:map_index="0"
+        />

-    <com.mogo.eagle.core.function.view.DecisionMapView
+    <com.mogo.eagle.core.function.view.CoordinateAnimationView
        android:id="@+id/decMapView"
        android:layout_width="238dp"
        android:layout_height="458dp"
@@ -29,16 +25,10 @@
        app:layout_constraintEnd_toEndOf="parent"
        app:layout_constraintBottom_toBottomOf="parent"
        android:layout_marginBottom="24dp"
-        android:focusable="false"
-        android:focusableInTouchMode="false"
-        app:carPosition="6"
-        app:isAutoLocation="false"
-        app:isDisplayAnim="false"
-        app:isWeatherEnable="false"
-        app:styleMode="MAP_STYLE_DAY_VR_AIP"
-        app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />
+        app:map_index="1"
+        />

-    <com.mogo.eagle.core.function.view.PredictionMap3View
+    <com.mogo.eagle.core.function.view.CoordinateAnimationView
        android:id="@+id/preDetailView3"
        android:layout_width="238dp"
        android:layout_height="458dp"
@@ -46,68 +36,8 @@
        app:layout_constraintBottom_toBottomOf="parent"
        android:layout_marginEnd="@dimen/dp_27"
        android:layout_marginBottom="20dp"
-        app:carPosition="6"
-        app:isAutoLocation="false"
-        app:isDisplayAnim="false"
-        app:isWeatherEnable="false"
-        app:styleMode="MAP_STYLE_DAY_VR_AIP"
-        app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />
-
-<!--    <androidx.cardview.widget.CardView-->
-<!--        android:id="@+id/decContainer"-->
-<!--        android:layout_width="match_parent"-->
-<!--        android:layout_height="match_parent"-->
-<!--        app:cardBackgroundColor="#D7F1FF"-->
-<!--        app:cardCornerRadius="20dp"-->
-<!--        app:cardElevation="0dp"-->
-<!--        app:layout_constraintStart_toStartOf="parent"-->
-<!--        app:layout_constraintTop_toTopOf="parent"-->
-<!--        >-->
-
-<!--        <com.mogo.eagle.core.function.view.PredictionMap2View-->
-<!--            android:id="@+id/preDetailView2"-->
-<!--            android:layout_width="238dp"-->
-<!--            android:layout_height="458dp"-->
-<!--            android:layout_gravity="start|bottom"-->
-<!--            android:layout_marginStart="@dimen/dp_27"-->
-<!--            android:layout_marginBottom="24dp"-->
-<!--            app:carPosition="6"-->
-<!--            app:isAutoLocation="false"-->
-<!--            app:isDisplayAnim="false"-->
-<!--            app:isWeatherEnable="false"-->
-<!--            app:styleMode="MAP_STYLE_DAY_VR_AIP"-->
-<!--            app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />-->
-
-<!--        <com.mogo.eagle.core.function.view.DecisionMapView-->
-<!--            android:id="@+id/decMapView"-->
-<!--            android:layout_width="238dp"-->
-<!--            android:layout_height="458dp"-->
-<!--            android:layout_gravity="center_horizontal|bottom"-->
-<!--            android:layout_marginBottom="24dp"-->
-<!--            android:focusable="false"-->
-<!--            android:focusableInTouchMode="false"-->
-<!--            app:carPosition="6"-->
-<!--            app:isAutoLocation="false"-->
-<!--            app:isDisplayAnim="false"-->
-<!--            app:isWeatherEnable="false"-->
-<!--            app:styleMode="MAP_STYLE_DAY_VR_AIP"-->
-<!--            app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />-->
-
-<!--        <com.mogo.eagle.core.function.view.PredictionMap3View-->
-<!--            android:id="@+id/preDetailView3"-->
-<!--            android:layout_width="238dp"-->
-<!--            android:layout_height="458dp"-->
-<!--            android:layout_gravity="end|bottom"-->
-<!--            android:layout_marginEnd="@dimen/dp_27"-->
-<!--            android:layout_marginBottom="20dp"-->
-<!--            app:carPosition="6"-->
-<!--            app:isAutoLocation="false"-->
-<!--            app:isDisplayAnim="false"-->
-<!--            app:isWeatherEnable="false"-->
-<!--            app:styleMode="MAP_STYLE_DAY_VR_AIP"-->
-<!--            app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />-->
-
-<!--    </androidx.cardview.widget.CardView>-->
+        app:map_index="2"
+        />

    <TextView
        android:id="@+id/tvDecTitle"
--- a/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_prediction_container.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/layout/layout_prediction_container.xml
@@ -6,30 +6,6 @@
    android:layout_height="match_parent"
    tools:parentTag="androidx.constraintlayout.widget.ConstraintLayout">

-<!--    <androidx.cardview.widget.CardView-->
-<!--        android:layout_width="match_parent"-->
-<!--        android:layout_height="match_parent"-->
-<!--        app:cardBackgroundColor="#D7F1FF"-->
-<!--        app:cardCornerRadius="20dp"-->
-<!--        app:cardElevation="0dp"-->
-<!--        app:layout_constraintStart_toStartOf="parent"-->
-<!--        app:layout_constraintTop_toTopOf="parent">-->
-
-<!--        <com.mogo.eagle.core.function.view.PredictionMapView-->
-<!--            android:id="@+id/preDetailView"-->
-<!--            android:layout_width="756dp"-->
-<!--            android:layout_height="500dp"-->
-<!--            android:layout_gravity="center_horizontal|bottom"-->
-<!--            android:layout_marginBottom="26dp"-->
-<!--            app:carPosition="6"-->
-<!--            app:isAutoLocation="false"-->
-<!--            app:isDisplayAnim="false"-->
-<!--            app:isWeatherEnable="false"-->
-<!--            app:styleMode="MAP_STYLE_DAY_VR_AIP"-->
-<!--            app:vrAngleMode="MAP_STYLE_VR_ANGLE_TOP" />-->
-
-<!--    </androidx.cardview.widget.CardView>-->
-
    <TextView
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
--- a/core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml
+++ b/core/function-impl/mogo-core-function-map/src/main/res/values/attrs.xml
@@ -76,4 +76,15 @@
        <!-- 是否是订单结束页显示 -->
        <attr name="isOrderEnd" format="boolean" />
    </declare-styleable>
+
+    <declare-styleable name="CoordinateAnimationView">
+        <attr name="map_index" format="integer" />
+    </declare-styleable>
+
+    <declare-styleable name="CarMapLayout">
+        <attr name="car_type" format="enum" >
+            <enum name="Taxi" value="0" />
+            <enum name="B2" value="1" /> />
+        </attr>
+    </declare-styleable>
 </resources>
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -350,7 +350,7 @@ object FunctionBuildConfig {
     */
    @Volatile
    @JvmField
-    var v2iToPNC = true
+    var v2iToPNC = false

    @Volatile
    @JvmField
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotIdentifyListener.kt
@@ -61,4 +61,8 @@ interface IMoGoAutopilotIdentifyListener {
    fun onAutopilotV2nCongestionEvent(header: MessagePad.Header, rsi: MogoV2X.RSI_PB) {}

    fun onPredictionProbabilityChanged(pro1: Float, pro2: Float) {}
+
+    fun screenPointsChanged(data: FloatArray, index: Int = 1) {}
+
+    fun preScrPointsChanged(data: FloatArray, index: Int = 0) {}
 }
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/hmi/warning/IMoGoHmiProvider.kt
@@ -337,9 +337,15 @@ interface IMoGoHmiProvider :IProvider{

    /**
     * 展示OTA升级结果弹窗
+     * @param isShow 是否展示
     * @param result true升级成功 false升级失败
     */
-    fun showOTAResultDialog(result: Boolean)
+    fun showOTAResultDialog(isShow: Boolean,result: Boolean)
+
+    /**
+     * OTA升级完成且优雅停服完成、需要车辆下电的时候车端告知鹰眼，司机屏弹窗提示用车人执行车辆下电操作
+     */
+    fun showOTAPowerOffFinishDialog()

    /**
     * 展示数据落盘拷贝成功对话框
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt
@@ -73,4 +73,18 @@ object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentif
            listener.onPredictionProbabilityChanged(pro1, pro2)
        }
    }
+
+    fun invokeScreenPointsChanged(data: FloatArray, index: Int = 1) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.screenPointsChanged(data, index)
+        }
+    }
+
+    fun invokePreScrPointsChanged(data: FloatArray, index: Int = 0) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.preScrPointsChanged(data, index)
+        }
+    }
 }
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/hmi/CallerHmiManager.kt
@@ -490,10 +490,18 @@ object CallerHmiManager {

    /**
     * 展示OTA升级结果弹窗
+     * @param isShow 是否展示
     * @param result true升级成功 false升级失败
     */
-    fun showOTAResultDialog(result: Boolean){
-        hmiProviderApi?.showOTAResultDialog(result)
+    fun showOTAResultDialog(isShow: Boolean,result: Boolean){
+        hmiProviderApi?.showOTAResultDialog(isShow,result)
+    }
+
+    /**
+     * OTA升级完成且优雅停服完成、需要车辆下电的时候车端告知鹰眼，司机屏弹窗提示用车人执行车辆下电操作
+     */
+    fun showOTAPowerOffFinishDialog(){
+        hmiProviderApi?.showOTAPowerOffFinishDialog()
    }

    /**
--- a/core/mogo-core-res/src/main/res/drawable-xhdpi/decision_car_icon.png
+++ b/core/mogo-core-res/src/main/res/drawable-xhdpi/decision_car_icon.png
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/IMogoMap.kt
@@ -5,6 +5,7 @@ import com.mogo.map.overlay.point.Point
 import com.mogo.map.uicontroller.IMogoMapUIController
 import com.mogo.map.overlay.proxy.point.IMapPointOverlay
 import com.mogo.map.overlay.proxy.line.IMapPolylineOverlay
+import com.zhidaoauto.map.data.point.LonLatPoint
 import mogo.telematics.pad.MessagePad.TrackedObject
 import mogo.yycp.api.proto.SocketDownData
 import prediction2025.Prediction2025
@@ -70,4 +71,11 @@ interface IMogoMap {
    fun removeMarker(uuidString: String?)

    fun switchData(x: Double, y: Double, isWgs84: Boolean): DoubleArray?
+
+    /**
+     * 和高精地图SDK配置的默认坐标系MapParams.setCoordinateType()有关，方法暂不支持传入当前的坐标系
+     */
+    fun toScreenLocations(data: List<LonLatPoint>): List<android.graphics.Point>
+
+    fun toScreenLocation(lon: Double, lat: Double): android.graphics.Point?
 }
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.kt
@@ -12,6 +12,7 @@ import com.mogo.map.overlay.wrapper.point.AMapPointWrapper
 import com.mogo.map.uicontroller.IMogoMapUIController
 import com.mogo.map.utils.ObjectUtils
 import com.zhidaoauto.map.data.point.LonLatPoint
+import com.zhidaoauto.map.sdk.open.common.tools.MapTools
 import com.zhidaoauto.map.sdk.open.renders.marker.BatchMarkerOptions
 import com.zhidaoauto.map.sdk.open.renders.marker.Marker
 import com.zhidaoauto.map.sdk.open.renders.marker.MarkerOptions
@@ -75,7 +76,8 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
        }
        val markerOptions = MarkerOptions(options.id, mMapView.getMapController()).setGps(true)
            .position(LonLatPoint(options.longitude, options.latitude, options.rotate.toDouble()))
-        val marker = Marker(markerOptions,mMapView.getMapController(),
+        val marker = Marker(
+            markerOptions, mMapView.getMapController(),
            mMapView.getMapController()?.getMarkerCall()
        )
        marker.setDisplayAnimEnable(options.displayAnim)
@@ -93,8 +95,8 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
            return null
        }
        if (options.isFilledIn) {
-           val delegate = mAMap?.drawPolygon(polylineOptions)
-           return AMapPolylineWrapper(options.id, delegate, mMapView)
+            val delegate = mAMap?.drawPolygon(polylineOptions)
+            return AMapPolylineWrapper(options.id, delegate, mMapView)
        } else {
            val delegate =
                (if (polylineOptions.lineWidth > 0) mAMap?.drawThickLine(polylineOptions) else mAMap?.drawLine(
@@ -244,4 +246,22 @@ class AMapWrapper(map: MapAutoViewHelper?, mapView: MapAutoView, controller: IMo
    override fun switchData(x: Double, y: Double, isWgs84: Boolean): DoubleArray? {
        return mAMap?.switchData(x, y, isWgs84)
    }
+
+    override fun toScreenLocations(data: List<LonLatPoint>): List<android.graphics.Point> {
+        return MapTools.toScreenLocations(data, mMapView.getMapController())
+    }
+
+    override fun toScreenLocation(lon: Double, lat: Double): android.graphics.Point? {
+        val controller = mMapView.getMapController()
+        if (controller == null) {
+            return null
+        } else {
+            val pixel = controller.lonlatToPixels(lon, lat)
+            return if (pixel == null) {
+                null
+            } else {
+                android.graphics.Point(pixel.x.toInt(), pixel.y.toInt())
+            }
+        }
+    }
 }
--- a/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/utils/ObjectUtils.java
@@ -23,6 +23,7 @@ import com.zhidaoauto.map.sdk.open.view.MapAutoView;
 import com.zhjt.mogo.adas.data.Adas;

 import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
 import java.util.Map;

@@ -38,18 +39,21 @@ import prediction2025.Prediction2025;
 */
 public class ObjectUtils {

-//    private static Map<Adas.TrackedObjectType, Adas.TrackedObjectClassID> sTypeMap = Map.of(//最低得JDK9，注意换成new HashMap<>
-//            Adas.TrackedObjectType.TYPE_PEDESTRIAN, Adas.TrackedObjectClassID.Person,
-//            Adas.TrackedObjectType.TYPE_MOTOR, Adas.TrackedObjectClassID.MotorCycle,
-//            Adas.TrackedObjectType.TYPE_BICYCLE, Adas.TrackedObjectClassID.Bicycle,
-//            Adas.TrackedObjectType.TYPE_CAR, Adas.TrackedObjectClassID.Car,
-//            Adas.TrackedObjectType.TYPE_TRUCK, Adas.TrackedObjectClassID.Truck,
-//            Adas.TrackedObjectType.TYPE_BUS, Adas.TrackedObjectClassID.Bus,
-//            Adas.TrackedObjectType.TYPE_WARNINGTRIANGLE, Adas.TrackedObjectClassID.WarningTriangle,
-//            Adas.TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501, Adas.TrackedObjectClassID.RoadWork_occupy_0501,
-//            Adas.TrackedObjectType.TYPE_ROADWORK_BREAK_0502, Adas.TrackedObjectClassID.RoadWork_break_0502,
-//            Adas.TrackedObjectType.TYPE_ROAD_CONGESTION, Adas.TrackedObjectClassID.ROAD_CONGESTION
-//    );
+    private static final Map<Adas.TrackedObjectType, Adas.TrackedObjectClassID> sTypeMap = new HashMap<>();
+
+    static {
+        // 初始化类型映射
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_PEDESTRIAN, Adas.TrackedObjectClassID.Person);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_MOTOR, Adas.TrackedObjectClassID.MotorCycle);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_BICYCLE, Adas.TrackedObjectClassID.Bicycle);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_CAR, Adas.TrackedObjectClassID.Car);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_TRUCK, Adas.TrackedObjectClassID.Truck);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_BUS, Adas.TrackedObjectClassID.Bus);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_WARNINGTRIANGLE, Adas.TrackedObjectClassID.WarningTriangle);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501, Adas.TrackedObjectClassID.RoadWork_occupy_0501);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_ROADWORK_BREAK_0502, Adas.TrackedObjectClassID.RoadWork_break_0502);
+        sTypeMap.put(Adas.TrackedObjectType.TYPE_ROAD_CONGESTION, Adas.TrackedObjectClassID.ROAD_CONGESTION);
+    }

    public static MarkerOptions fromMogo(Point.Options opt, MapAutoView mapAutoView) {

@@ -226,7 +230,10 @@ public class ObjectUtils {
        if (type == null) {
            type = Adas.TrackedObjectType.TYPE_UNKNOWN;
        }
-        Adas.TrackedObjectClassID classID = Adas.TrackedObjectClassID.Unknown;
+        Adas.TrackedObjectClassID classID = sTypeMap.get(type);
+        if (classID == null) {
+            classID = Adas.TrackedObjectClassID.Unknown;
+        }
        return classID.getNumber();
    }