diff --git a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
index df70fc4d12..7ab295d950 100644
--- a/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/mogo-och-bus/src/main/res/layout/bus_base_fragment.xml
@@ -5,39 +5,38 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:layout_marginTop="@dimen/dp_72">
-
     <FrameLayout
         android:id="@+id/fl_speed"
-        android:layout_width="@dimen/dp_616"
-        android:layout_height="@dimen/dp_320"
-        android:layout_marginLeft="@dimen/dp_16"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/bus_ext_speed_width"
+        android:layout_height="@dimen/bus_ext_speed_height"
+        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+        android:layout_marginTop="@dimen/module_mogo_och_margin_left"
+        android:background="@drawable/bus_yi_biao_pan_bg_nor"
         android:elevation="@dimen/bus_dp_10"
         android:padding="@dimen/bus_dp_20"
         android:visibility="visible"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintTop_toTopOf="parent">
 
-        <com.mogo.eagle.core.function.hmi.ui.widget.TrafficDataView
+        <com.mogo.och.bus.view.BusArcView
             android:id="@+id/bus_arc"
-            android:layout_width="@dimen/dp_616"
-            android:layout_height="@dimen/dp_320"
+            android:layout_width="@dimen/bus_ext_arcView_width"
+            android:layout_height="@dimen/bus_ext_arcView_height"
             android:layout_gravity="center" />
 
     </FrameLayout>
 
-
     <RelativeLayout
         android:id="@+id/module_mogo_och_autopilot_status"
         android:layout_width="@dimen/module_mogo_och_autopilot_status_bg_width"
         android:layout_height="@dimen/module_mogo_och_autopilot_status_bg_height"
         android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+        app:layout_constraintTop_toBottomOf="@+id/fl_speed"
         android:layout_marginTop="@dimen/bus_ext_arcView_top"
         android:background="@drawable/bus_autopilot_status_bg"
-        android:gravity="center"
         app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/fl_speed"
-        tools:visibility="visible">
+        android:gravity="center"
+        tools:visibility="visible" >
 
         <ImageView
             android:id="@+id/bus_autopilot_btn_iv"
@@ -45,18 +44,17 @@
             android:layout_height="56px"
             android:layout_centerVertical="true"
             android:src="@drawable/bus_ic_autopilot" />
-
         <TextView
             android:id="@+id/bus_autopolot_btn_tv"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_centerVertical="true"
+            android:text="自动驾驶"
             android:layout_marginLeft="28px"
             android:layout_toRightOf="@+id/bus_autopilot_btn_iv"
-            android:text="自动驾驶"
             android:textColor="@color/bus_autopilot_text_color_normal"
             android:textSize="@dimen/module_mogo_och_autopilot_status_text_size"
-            android:textStyle="bold" />
+            android:layout_centerVertical="true"
+            android:textStyle="bold"/>
 
     </RelativeLayout>
 
@@ -91,24 +89,21 @@
         android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
         android:background="@drawable/bus_switch_map_bg"
         android:elevation="@dimen/bus_dp_10"
-        android:gravity="center"
-        android:orientation="horizontal"
         android:padding="@dimen/bus_dp_20"
         app:layout_constraintBottom_toBottomOf="@+id/module_mogo_och_operation_status"
-        app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_operation_status">
+        app:layout_constraintLeft_toRightOf="@+id/module_mogo_och_operation_status"
+        android:gravity="center"
+        android:orientation="horizontal">
 
         <ImageView
             android:id="@+id/bus_switch_model_icon"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content" />
     </LinearLayout>
-
     <CheckedTextView
         android:id="@+id/module_mogo_och_operation_status"
         android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
-        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
-        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
         android:background="@drawable/bus_operation_status_bg"
         android:elevation="@dimen/dp_10"
         android:gravity="center"
@@ -117,8 +112,10 @@
         android:textColor="@color/bus_autopilot_text_color_selector"
         android:textSize="@dimen/module_mogo_och_autopilot_status_text_size"
         android:textStyle="bold"
+        android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
+        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toLeftOf="parent" />
+        app:layout_constraintLeft_toLeftOf="parent"/>
 
     <RelativeLayout
         android:id="@+id/module_mogo_och_setting_layout"
@@ -130,23 +127,21 @@
         android:elevation="@dimen/dp_10"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/bus_switch_model_layout">
-
         <ImageView
             android:id="@+id/module_och_bus_upgrade_red_tip"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_alignParentTop="true"
             android:layout_alignParentRight="true"
+            android:layout_alignParentTop="true"
             android:layout_gravity="right"
-            android:background="@drawable/bus_setting_tip_red_cir_bg"
+            android:visibility="gone"
             android:elevation="8px"
-            android:visibility="gone" />
-
+            android:background="@drawable/bus_setting_tip_red_cir_bg" />
         <ImageView
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_centerInParent="true"
             android:layout_gravity="center"
+            android:layout_centerInParent="true"
             android:background="@drawable/bus_setting_btn_bg" />
     </RelativeLayout>
 
@@ -156,11 +151,11 @@
         android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
         android:layout_marginLeft="@dimen/module_mogo_och_margin_left"
         android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
-        android:elevation="@dimen/dp_10"
         android:src="@drawable/bus_badcase_btn_bg"
+        android:elevation="@dimen/dp_10"
         android:visibility="gone"
         app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_setting_layout" />
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_setting_layout"/>
 
     <com.mogo.och.bus.view.SlidePanelView
         android:id="@+id/module_mogo_och_slide_panel"
@@ -219,7 +214,6 @@
         android:textSize="30sp"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />
-
     <Button
         android:id="@+id/btnAutopilotRoute"
         android:layout_width="wrap_content"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
index d5560f4139..246cd5bcb2 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
@@ -35,6 +35,7 @@ public class TapPositionView extends ConstraintLayout {
 
     public TapPositionView(Context context, @Nullable AttributeSet attrs) {
         super(context, attrs);
+        Log.d(TAG, "2");
         LayoutInflater.from(context).inflate(R.layout.hmi_tap_position, this);
         tabP = findViewById(R.id.tap_p);
         tabR = findViewById(R.id.tap_r);
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
index 793381471e..5900114d6d 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/AMapCustomView.java
@@ -133,6 +133,16 @@ public class AMapCustomView
 //        mWayPointList.add(new NaviLatLng(40.035897, 116.329582));
 //        mWayPointList.add(new NaviLatLng(40.036396, 116.322166));
         Log.d(TAG, "initView:" + mWayPointList.toString());
+//        mWayPointList.add(new NaviLatLng(39.968847, 116.406952));
+//        mWayPointList.add(new NaviLatLng(39.969058, 116.407346));
+//        mWayPointList.add(new NaviLatLng(39.968955, 116.401767));
+//        mWayPointList.add(new NaviLatLng(39.968626, 116.394938));
+//        mWayPointList.add(new NaviLatLng(39.968433, 116.388725));
+//        mWayPointList.add(new NaviLatLng(39.968542, 116.383775));
+//        mWayPointList.add(new NaviLatLng(40.037808, 116.342539));
+//        mWayPointList.add(new NaviLatLng(40.037239, 116.337172));
+//        mWayPointList.add(new NaviLatLng(40.035897, 116.329582));
+//        mWayPointList.add(new NaviLatLng(40.036396, 116.322166));
 
         //顺义国展路线
 //        mWayPointList.add(new NaviLatLng(40.097621,116.526495));
@@ -280,7 +290,7 @@ public class AMapCustomView
         //导航全程光柱
         options.setTrafficBarEnabled(false);
         //指南针
-//        options.setCompassEnabled(false);
+        options.setCompassEnabled(false);
         options.setTilt((int) tilt);
         //自车车标
         options.setCarBitmap(BitmapFactory.decodeResource(this.getResources(), R.drawable.module_small_map_view_my_location_logo));
@@ -695,4 +705,42 @@ public class AMapCustomView
 
     }
 
+    @Override
+    public void onAutopilotTrajectory(@NotNull List<MessagePad.TrajectoryPoint> trajectoryInfos) {
+
+    }
+
+    /**
+     * 根据全路径获取起始点和经停点进行导航路线绘制
+     * 自动驾驶启动后获得数据,获取全路径的具体时间要进行路测
+     * 室内某个bag包自动驾驶启动8s后返回
+     */
+    @Override
+    public void onAutopilotRotting(@org.jetbrains.annotations.Nullable MessagePad.GlobalPathResp globalPathResp) {
+        List list = globalPathResp.getWayPointsList();
+        int minCount = 2;
+        if (list.size() >= minCount) {
+            Location sLocation = (Location) list.get(0);
+            Location eLocation = (Location) list.get(list.size() - 1);
+            mStartLatlng = new NaviLatLng(sLocation.getLongitude(), sLocation.getLatitude());
+            mEndLatlng = new NaviLatLng(eLocation.getLongitude(), eLocation.getLatitude());
+            sList.add(mStartLatlng);
+            eList.add(mEndLatlng);
+            for (int i = 1; i < list.size() - minCount; i++) {
+                Location wayLoc = (Location) list.get(i);
+                NaviLatLng way = new NaviLatLng(wayLoc.getLongitude(), wayLoc.getLatitude());
+                mWayPointList.add(way);
+            }
+        }
+        int strategy = 0;
+        try {
+            //再次强调，最后一个参数为true时代表多路径，否则代表单路径
+            strategy = mAMapNavi.strategyConvert(true, false, false, false, false);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        Log.d(TAG, "calculateDriveRoute ADAS全局路径坐标:" + list.size() + "," + sList.toString() + "," + eList.toString() + "," + mWayPointList.toString());
+        //指定路径绘制导航路线
+        mAMapNavi.calculateDriveRoute(sList, eList, mWayPointList, strategy);
+    }
 }