diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
index 41484f0972..ed2f3e744a 100644
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/model/OrderModel.java
@@ -48,6 +48,7 @@ import com.mogo.och.bus.util.BusSendTripInfoManager;
 import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.bus.util.BusVoiceManager;
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager;
 import com.mogo.och.common.module.manager.socket.lan.ILanMessageListener;
 import com.mogo.och.common.module.manager.socket.lan.LanSocketManager;
 import com.mogo.och.common.module.manager.socket.lan.bean.AppConnectMsg;
@@ -197,6 +198,8 @@ public class OrderModel {
         });
     }
 
+    // 初始化调用
+    // 登录状态发生变化调用
     public void queryBusCacheRoutes(){
 
         String loginStr = CacheDataManager.Companion.getInstance().getCacheData(
@@ -500,7 +503,7 @@ public class OrderModel {
                     closeBeautificationMode();
                     clearStartAutopilotTag();
                     removeTipRunnables();
-
+                    updateBusStatus(null);
                     CacheDataManager.Companion.getInstance().clearCacheData(mContext, BusCacheKey.BUS_LINE_CACHE);
                     return;
                 }
@@ -720,7 +723,7 @@ public class OrderModel {
                 FunctionBuildConfig.isPassStartAutopilotCommand);
 
         //3、距离轨迹15m计算
-        String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
+        String resion = OchAutoPilotManager.canStartAutoPilot(busRoutesResult.getLineId());
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             MogoLocation nextStationPoint = new MogoLocation();
             if (backgroundCurrentStationIndex < stationList.size() - 1) {
@@ -733,7 +736,7 @@ public class OrderModel {
             currentStationPoint.setLongitude(busStationBean.getGcjLon());
             currentStationPoint.setLatitude(busStationBean.getGcjLat());
             setTrajectoryStation(currentStationPoint,nextStationPoint, (long)busRoutesResult.getLineId());
-            resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
+            resion = OchAutoPilotManager.canStartAutoPilot(busRoutesResult.getLineId());
         }
         if(!StringUtils.isEmpty(resion)){
             ToastUtils.showShort(resion);
@@ -742,9 +745,7 @@ public class OrderModel {
         }
 
         //4、ssm 给出数据
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
-            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
-                    ", 请稍候重试");
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             triggerUnableStartAPReasonEvent();
             return;
         }
@@ -962,11 +963,15 @@ public class OrderModel {
      * @param result
      */
     private void updateBusStatus(BusRoutesResult result) {
-        if (result == null) return;
+        if (result == null) {
+            LineManager.setLineId(-1);
+            return;
+        }
         busRoutesResult = result;
         List<BusStationBean> site = result.getSites();
         currentTaskId = result.getTaskId();
         currentLineId = result.getLineId();
+        LineManager.setLineId(currentLineId);
         stationList.clear();
         stationList.addAll(site);
 
diff --git a/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml b/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
index a32dea82da..8e2b52baa1 100644
--- a/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
@@ -258,6 +258,7 @@
         android:layout_height="@dimen/dp_142"/>
 
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaTaxiView
+        android:id="@+id/rtv_switch"
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -267,6 +268,14 @@
         app:roma_close_bg="@drawable/common_driverroma_normal"
         app:roma_open_bg="@drawable/common_driver_roma_press" />
 
+    <com.mogo.och.common.module.wigets.map.drawline.LineView
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/rtv_switch"
+        android:layout_marginStart="-11dp"
+        android:layout_marginBottom="@dimen/dp_17"
+        android:layout_width="@dimen/dp_142"
+        android:layout_height="@dimen/dp_142"/>
+
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
@@ -310,7 +319,7 @@
     <com.mogo.eagle.core.function.hmi.ui.widget.ConnectionProcessView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_18"
+        android:layout_marginBottom="@dimen/dp_26"
         app:layout_constraintBottom_toTopOf="@id/viewVersionName"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent"
diff --git a/OCH/bus/passenger/src/main/java/m2/com/mogo/och/bus/passenger/passenger/ui/PM2HPMapFragment.kt b/OCH/bus/passenger/src/main/java/m2/com/mogo/och/bus/passenger/passenger/ui/PM2HPMapFragment.kt
index 5138cd0cee..a3c9cc0390 100644
--- a/OCH/bus/passenger/src/main/java/m2/com/mogo/och/bus/passenger/passenger/ui/PM2HPMapFragment.kt
+++ b/OCH/bus/passenger/src/main/java/m2/com/mogo/och/bus/passenger/passenger/ui/PM2HPMapFragment.kt
@@ -110,9 +110,9 @@ class PM2HPMapFragment :
                 it?.let{
                     builder.rotate(it.angle.toFloat())
                 }
+                val overlayManager = getOverlayManager()
+                overlayManager?.showOrUpdatePoint(builder.build())
             }
-            val overlayManager = getOverlayManager()
-            overlayManager?.showOrUpdatePoint(builder.build())
         }
         OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
     }
diff --git a/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
index 0c15df4cd3..b3746e2b76 100644
--- a/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
+++ b/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
@@ -46,6 +46,7 @@ import com.mogo.och.common.module.manager.CharterSendTripInfoManager.END_TRIP
 import com.mogo.och.common.module.manager.CharterSendTripInfoManager.START_TRIP
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.device.LightAirconditionDoorManager
 import com.mogo.och.common.module.manager.device.LightAirconditionDoorStatusManager
 import com.mogo.och.common.module.manager.socket.cloud.AbnormalFactorsLoopManager.startLoopAbnormalFactors
@@ -502,14 +503,10 @@ class DriverM1Model {
         if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
             return
         }
-        // ssm 给出数据
-        if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
-            ToastUtils.showLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
-            triggerUnableStartAPReasonEvent()
-            return
+        //4、ssm 给出数据
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
+            triggerUnableStartAPReasonEvent();
+            return;
         }
 
         triggerStartServiceEvent(false, false)
@@ -697,6 +694,7 @@ class DriverM1Model {
                         if (TextUtils.isEmpty(data.data.orderNo)){//还未换车，显示还车状态
                             mOrderCallback?.updateReturnCarStatus(false)
                             mCurrentOrder = null
+                            LineManager.setLineId(-1)
                             currentChangeDestMsg = null
                             sendCharterEndTripInfo()
                             startOrStopCheckCountDown(false)
@@ -710,6 +708,7 @@ class DriverM1Model {
                         mOrderCallback?.updateReturnCarStatus(true)
                         clearAutopilotControlParameters()
                         mCurrentOrder = null
+                        LineManager.setLineId(-1)
                         currentChangeDestMsg = null
                         isArrivedStation = false
                         startOrStopCheckCountDown(false)
@@ -736,6 +735,7 @@ class DriverM1Model {
                         d(SceneConstant.M_CHARTER_D + TAG, "data.data is null")
                         isArrivedStation = false
                         mCurrentOrder = null
+                        LineManager.setLineId(-1)
                         queryCurrentServiceStatus()
                         return
                     }
@@ -749,6 +749,14 @@ class DriverM1Model {
 
                     mCurrentOrder = data.data
 
+                    mCurrentOrder?.lineId.let {
+                        if (it == null || it < 0) {
+                            LineManager.setLineId(-1)
+                        } else {
+                            LineManager.setLineId(it)
+                        }
+                    }
+
                     updateToClientData()
 
                     mOrderCallback?.updateOrderUI(data.data)
diff --git a/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml b/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
index daa6f3b6e1..fa01121b68 100644
--- a/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
+++ b/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
@@ -243,6 +243,14 @@
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"/>
 
+    <com.mogo.och.common.module.wigets.map.drawline.LineView
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/reportworkorderview"
+        android:layout_marginStart="-11dp"
+        android:layout_marginBottom="@dimen/dp_17"
+        android:layout_width="@dimen/dp_142"
+        android:layout_height="@dimen/dp_142"/>
+
     <Button
         android:id="@+id/btnAutopilotDisable"
         android:layout_width="wrap_content"
@@ -349,7 +357,7 @@
     <com.mogo.eagle.core.function.hmi.ui.widget.ConnectionProcessView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_18"
+        android:layout_marginBottom="@dimen/dp_26"
         app:layout_constraintBottom_toTopOf="@id/viewVersionName"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent"
diff --git 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
index 2de61eac89..d85758fbc2 100644
--- 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
@@ -1146,13 +1146,9 @@ object CharterPassengerModel {
             if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
                 return
             }
-            //  4、ssm 给出数据
-            if (!OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
-                ToastCharterUtils.showToastLong(
-                    OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                            ", 请稍候重试"
-                )
-                return
+            //4、ssm 给出数据
+            if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
+                return;
             }
             val parameters = initAutopilotControlParameters()
             if (null == parameters) {
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java
index cb43850345..0335b46428 100644
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/OCHAdasAbilityManager.java
@@ -59,9 +59,18 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
         return isAutopilotAbility;
     }
 
+    public String getAbilityVersion() {
+        return launchConditionData == null ? "" : launchConditionData.abilityVersion;
+    }
+
     public String getOriginalData() {
         return launchConditionData == null ? "" : launchConditionData.getJson();
     }
+
+    public ArrayList<UnableLaunchReason> getUnableAutopilotReasons() {
+        return unableAutopilotReasons;
+    }
+
     public String getAutopilotUnAbilityReason(){
         try {
             if(unableAutopilotReasons==null||unableAutopilotReasons.isEmpty()){
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
index b7769f9dd3..e71a17dbea 100644
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/autopilot/OchAutoPilotManager.kt
@@ -1,9 +1,18 @@
 package com.mogo.och.common.module.manager.autopilot.autopilot
 
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.msgbox.AutopilotMsg
+import com.mogo.eagle.core.data.msgbox.MsgBoxBean
+import com.mogo.eagle.core.data.msgbox.MsgBoxType
 import com.mogo.eagle.core.function.api.autopilot.IMoGoReceiveReceivedAckListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerReceiveReceivedAckListenerManager
+import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
+import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
 import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
 import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
@@ -15,6 +24,42 @@ object OchAutoPilotManager : IMoGoReceiveReceivedAckListener {
         CallerReceiveReceivedAckListenerManager.addListener(TAG,this)
     }
 
+    @JvmStatic
+    fun canStartAutoPilot(lineId: Number?): String {
+        return TrajectoryAndDistanceManager.canStartAutopilot(lineId).apply {
+            if (!isNullOrBlank()) {
+                // 去启动绘制高精地图上的轨迹
+                val drawGlobalTrajectory = LineManager.drawGlobalTrajectory()
+                if (!drawGlobalTrajectory.first) {
+                    ToastUtils.showLong(drawGlobalTrajectory.second)
+                }
+            }
+        }
+    }
+
+    @JvmStatic
+    fun canStartAutoPilotSSM(): Boolean {
+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+            val reasons = OCHAdasAbilityManager.getInstance().unableAutopilotReasons
+            if ("AutopilotAbility440" == OCHAdasAbilityManager.getInstance().abilityVersion && !reasons.isNullOrEmpty()) {
+                val msg = reasons[0].unableLaunchReason + " 来源：" + reasons[0].source
+                CallerMsgBoxManager.saveMsgBox(
+                    MsgBoxBean(
+                        MsgBoxType.AUTOPILOT,
+                        AutopilotMsg(0, "自动驾驶启动失败", msg, System.currentTimeMillis())
+                    )
+                )
+            } else {
+                ToastUtils.showLong(
+                    OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
+                            ", 请稍候重试"
+                );
+            }
+            return false
+        }
+        return true
+    }
+
     @JvmStatic
     fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
         OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters)
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java
new file mode 100644
index 0000000000..2bdb1e5b9a
--- /dev/null
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/ILineCallback.java
@@ -0,0 +1,9 @@
+package com.mogo.och.common.module.manager.autopilot.line;
+
+
+public interface ILineCallback {
+    default void clearLineSuccess(){}
+    default void drawLineSuccess(){}
+
+    default void drawLineFail(){}
+}
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
new file mode 100644
index 0000000000..21fd6df0d2
--- /dev/null
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilot/line/LineManager.kt
@@ -0,0 +1,75 @@
+package com.mogo.och.common.module.manager.autopilot.line
+
+import com.mogo.eagle.core.function.call.map.CallerMapGlobalTrajectoryDrawManager
+import com.mogo.och.common.module.utils.CallerBase
+
+/**
+ * 订单中
+ */
+object LineManager : CallerBase<ILineCallback>() {
+    private var lineId: Int = -1
+    @JvmStatic
+    fun setLineId(value: Int) {
+        lineId = if (value < 0) {
+            clearGlobalTrajectory(true)
+            -1
+        } else {
+            value
+        }
+    }
+    @JvmStatic
+    fun setLineId(value: Long) {
+        lineId = if (value < 0) {
+            clearGlobalTrajectory(true)
+            -1
+        } else {
+            value.toInt()
+        }
+    }
+
+    @JvmStatic
+    fun getLineId():Int{
+        return lineId
+    }
+
+    override fun doSomeAfterAddListener(tag: String, listener: ILineCallback) {
+        super.doSomeAfterAddListener(tag, listener)
+        if (hasDrawnGlobalTrajectory()) {
+            listener.drawLineSuccess()
+        }else{
+            listener.drawLineFail()
+        }
+    }
+
+    fun hasDrawnGlobalTrajectory(): Boolean {
+        return CallerMapGlobalTrajectoryDrawManager.hasDrawnGlobalTrajectory()
+    }
+
+    fun clearGlobalTrajectory(isClearData: Boolean) {
+        CallerMapGlobalTrajectoryDrawManager.clearGlobalTrajectory(isClearData)
+        if (!hasDrawnGlobalTrajectory()){
+            M_LISTENERS.forEach {
+                it.value.clearLineSuccess()
+            }
+        }
+    }
+
+    fun drawGlobalTrajectory(): Pair<Boolean, String> {
+        if(lineId<0){
+            return  Pair(false,"请设置正确线路或订单")
+        }
+        return CallerMapGlobalTrajectoryDrawManager.drawGlobalTrajectory().apply {
+            if(first){
+                M_LISTENERS.forEach {
+                    it.value.drawLineSuccess()
+                }
+            }else{
+                M_LISTENERS.forEach {
+                    it.value.drawLineFail()
+                }
+            }
+        }
+    }
+
+
+}
\ No newline at end of file
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt
index d5b067bbab..2c971379fb 100644
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/distance/TrajectoryAndDistanceManager.kt
@@ -660,13 +660,13 @@ object TrajectoryAndDistanceManager : IMoGoPlanningRottingListener {
      * 返回空为可启动自驾
      * 返回其他不可启动自驾 返回为原因
      */
-    fun canStartAutopilot(lineId: Long?): String {
+    fun canStartAutopilot(lineId: Number?): String {
         if (lineId == null) {
             OchAutopilotAnalytics.triggerDistance2LineorStation("未传轨迹ID")
             return "请确认线路ID"
         }
 
-        OchAutopilotAnalytics.triggerDistance2LineorStation("条件记录:lineId:${lineId}----this.lineId:${this.lineId}")
+        OchAutopilotAnalytics.triggerDistance2LineorStation("条件记录:lineId:${lineId}----this.lineId:${this.lineId}、mRoutePoints情况:${mRoutePoints?.size}")
 
         try {
             if (mRoutePoints.isNullOrEmpty()) {
@@ -688,7 +688,7 @@ object TrajectoryAndDistanceManager : IMoGoPlanningRottingListener {
                         CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02()
                     distanceWithTrajectory(mRoutePoints!!,currentPoint)
                 } else {
-                    if (lineId != this.lineId) {
+                    if (lineId.toLong() != this.lineId) {
                         // 判断距离起始站的距离
                         distanceWithStartStation()
                     } else {
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineView.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineView.kt
new file mode 100644
index 0000000000..d7f9262861
--- /dev/null
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineView.kt
@@ -0,0 +1,69 @@
+package com.mogo.och.common.module.wigets.map.drawline
+
+import android.content.Context
+import android.util.AttributeSet
+import androidx.appcompat.widget.AppCompatImageView
+import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.findViewTreeViewModelStoreOwner
+import com.mogo.eagle.core.utilcode.kotlin.onClick
+import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.R
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
+
+/**
+ *
+ */
+class LineView : AppCompatImageView, LineViewModel.ILineViewCallback {
+
+    private val TAG = "LineView"
+
+    constructor(context: Context) : super(context)
+
+    constructor(context: Context, attributeSet: AttributeSet) : super(context, attributeSet)
+
+    constructor(context: Context, attributeSet: AttributeSet, defStyleAttr: Int) : super(
+        context,
+        attributeSet,
+        defStyleAttr
+    )
+
+    private fun initView() {
+        setImageResource(R.drawable.common_map_line_close)
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+
+        onClick {
+            if (LineManager.hasDrawnGlobalTrajectory()) {
+                LineManager.clearGlobalTrajectory(false)
+            } else {
+                val drawGlobalTrajectory = LineManager.drawGlobalTrajectory()
+                if (!drawGlobalTrajectory.first) {
+                    ToastUtils.showLong(drawGlobalTrajectory.second)
+                }
+            }
+        }
+
+        val viewModel = findViewTreeViewModelStoreOwner()?.let {
+            ViewModelProvider(it).get(LineViewModel::class.java)
+        }
+        viewModel?.setDistanceCallback(this)
+
+    }
+
+
+    init {
+        try {
+            initView()
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+
+    override fun setImageViewResource(name: Int) {
+        setImageResource(name)
+    }
+
+
+}
\ No newline at end of file
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineViewModel.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineViewModel.kt
new file mode 100644
index 0000000000..d16d17d0ae
--- /dev/null
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/drawline/LineViewModel.kt
@@ -0,0 +1,46 @@
+package com.mogo.och.common.module.wigets.map.drawline
+
+import androidx.annotation.DrawableRes
+import androidx.lifecycle.ViewModel
+import com.mogo.och.common.module.R
+import com.mogo.och.common.module.manager.autopilot.line.ILineCallback
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
+
+class LineViewModel : ViewModel(), ILineCallback {
+
+    private val TAG = LineViewModel::class.java.simpleName
+
+    private var viewCallback: ILineViewCallback? = null
+
+    init {
+
+    }
+
+    override fun onCleared() {
+        super.onCleared()
+        LineManager.removeListener(TAG)
+        this.viewCallback = null
+    }
+
+    fun setDistanceCallback(viewCallback: ILineViewCallback) {
+        LineManager.addListener(TAG,this)
+        this.viewCallback = viewCallback
+    }
+
+    override fun clearLineSuccess() {
+        this.viewCallback?.setImageViewResource(R.drawable.common_map_line_close)
+    }
+
+    override fun drawLineSuccess() {
+        this.viewCallback?.setImageViewResource(R.drawable.common_map_line_open)
+    }
+
+    override fun drawLineFail() {
+        this.viewCallback?.setImageViewResource(R.drawable.common_map_line_close)
+    }
+
+    interface ILineViewCallback {
+        fun setImageViewResource(@DrawableRes name: Int)
+
+    }
+}
\ No newline at end of file
diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/orderstatus/OrderStatusView.kt b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/orderstatus/OrderStatusView.kt
index 86f43bff3b..22a28ddd8c 100644
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/orderstatus/OrderStatusView.kt
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/wigets/map/orderstatus/OrderStatusView.kt
@@ -25,7 +25,7 @@ class OrderStatusView : AppCompatImageView, OrderStatusViewModel.IVisualCallback
     )
 
     private fun initView() {
-        setImageResource(R.drawable.common_visual_medium)
+        setImageResource(R.drawable.common_status_unorder)
     }
 
     override fun onAttachedToWindow() {
diff --git a/OCH/common/common/src/main/res/drawable-nodpi/common_map_line_close.png b/OCH/common/common/src/main/res/drawable-nodpi/common_map_line_close.png
new file mode 100644
index 0000000000..4187e3ddbd
Binary files /dev/null and b/OCH/common/common/src/main/res/drawable-nodpi/common_map_line_close.png differ
diff --git a/OCH/common/common/src/main/res/drawable-nodpi/common_map_line_open.png b/OCH/common/common/src/main/res/drawable-nodpi/common_map_line_open.png
new file mode 100644
index 0000000000..8bfc10bae6
Binary files /dev/null and b/OCH/common/common/src/main/res/drawable-nodpi/common_map_line_open.png differ
diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java
index 0d5b1691a4..2323cc4c84 100644
--- a/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java
+++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/model/OrderModel.java
@@ -24,6 +24,7 @@ import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils;
 import com.mogo.eagle.core.utilcode.util.StringUtils;
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager;
 import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager;
 import com.mogo.och.common.module.manager.socket.lan.LanSocketManager;
 import com.mogo.och.common.module.manager.socket.lan.bean.BusinessType;
@@ -398,6 +399,7 @@ public class OrderModel {
                     if (refreshBusStationsCallback != null) {
                         refreshBusStationsCallback.updateEmptyUi();
                     }
+                    updateBusStatus(null);
                     clearAutopilotControlParameters();
                     closeBeautificationMode();
                     clearStartAutopilotTag();
@@ -651,7 +653,7 @@ public class OrderModel {
         }
         // 3、距离轨迹15m计算
         //3、距离轨迹15m计算
-        String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
+        String resion = OchAutoPilotManager.canStartAutoPilot(busRoutesResult.getLineId());
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             MogoLocation nextStationPoint = new MogoLocation();
             if (backgroundCurrentStationIndex < stationList.size() - 1) {
@@ -664,7 +666,7 @@ public class OrderModel {
             currentStationPoint.setLongitude(busStationBean.getGcjLon());
             currentStationPoint.setLatitude(busStationBean.getGcjLat());
             setTrajectoryStation(currentStationPoint,nextStationPoint, (long) busRoutesResult.getLineId());
-            resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot((long)busRoutesResult.getLineId());
+            resion = OchAutoPilotManager.canStartAutoPilot(busRoutesResult.getLineId());
         }
         if(!StringUtils.isEmpty(resion)){
             ToastUtils.showShort(resion);
@@ -672,9 +674,7 @@ public class OrderModel {
             return;
         }
         //4、ssm 给出数据
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
-            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
-                    ", 请稍候重试");
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             triggerUnableStartAPReasonEvent();
             return;
         }
@@ -923,8 +923,12 @@ public class OrderModel {
      * @param result
      */
     private void updateBusStatus(BusRoutesResult result) {
-        if (result == null) return;
+        if (result == null) {
+            LineManager.setLineId(-1);
+            return;
+        }
         busRoutesResult = result;
+        LineManager.setLineId(busRoutesResult.getLineId());
         stationList.clear();
         stationList.addAll(result.getSites());
         for (int i = 0; i < stationList.size(); i++) {
diff --git a/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml b/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
index 4e8489372e..142cacec65 100644
--- a/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
+++ b/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
@@ -261,6 +261,14 @@
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"/>
 
+    <com.mogo.och.common.module.wigets.map.drawline.LineView
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/reportworkorderview"
+        android:layout_marginStart="-11dp"
+        android:layout_marginBottom="@dimen/dp_17"
+        android:layout_width="@dimen/dp_142"
+        android:layout_height="@dimen/dp_142"/>
+
     <com.mogo.och.shuttle.view.SlidePanelView
         android:id="@+id/module_mogo_och_slide_panel"
         android:layout_width="wrap_content"
@@ -355,7 +363,7 @@
     <com.mogo.eagle.core.function.hmi.ui.widget.ConnectionProcessView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_18"
+        android:layout_marginBottom="@dimen/dp_26"
         app:layout_constraintBottom_toTopOf="@id/viewVersionName"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent"
diff --git a/OCH/shuttle/passenger/src/main/java/m2/com/mogo/och/shuttle/passenger/ui/PM2HPMapFragment.kt b/OCH/shuttle/passenger/src/main/java/m2/com/mogo/och/shuttle/passenger/ui/PM2HPMapFragment.kt
index e278d6c4ae..f0efcd42e8 100644
--- a/OCH/shuttle/passenger/src/main/java/m2/com/mogo/och/shuttle/passenger/ui/PM2HPMapFragment.kt
+++ b/OCH/shuttle/passenger/src/main/java/m2/com/mogo/och/shuttle/passenger/ui/PM2HPMapFragment.kt
@@ -109,9 +109,10 @@ class PM2HPMapFragment :
                 it?.let{
                     builder.rotate(it.angle.toFloat())
                 }
+                val overlayManager = CallerMapUIServiceManager.getOverlayManager()
+                overlayManager?.showOrUpdatePoint(builder.build())
             }
-            val overlayManager = CallerMapUIServiceManager.getOverlayManager()
-            overlayManager?.showOrUpdatePoint(builder.build())
+
         }
         OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
     }
diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
index 6fcaf29aa3..d59f3ac076 100644
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/cloud/model/SweeperCloudTaskModel.java
@@ -792,4 +792,9 @@ public class SweeperCloudTaskModel implements IMoGoSweeperFutianCloudTaskListene
     public void onAutopilotTrajectoryDownloadReq(@NonNull AutopilotControlParameters.AutoPilotLine autoPilotLine, int downloadType) {
 
     }
+
+    @Override
+    public void onFsmReceiveTimeout(boolean isTimeout) {
+
+    }
 }
diff --git a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
index 130c155a68..764942e060 100644
--- a/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
+++ b/OCH/sweeper/driver/src/main/java/com/mogo/och/sweeper/operate/presenter/SweeperOperatePresenter.java
@@ -469,4 +469,9 @@ public class SweeperOperatePresenter extends Presenter<SweeperOperateFragment>
     @Override
     public void onAutopilotTrajectoryDownloadReq(@NonNull AutopilotControlParameters.AutoPilotLine autoPilotLine, int downloadType) {
     }
+
+    @Override
+    public void onFsmReceiveTimeout(boolean isTimeout) {
+
+    }
 }
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index a0a733feaa..dd67425e9f 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -44,6 +44,7 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation;
 import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener;
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager;
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager;
 import com.mogo.och.common.module.manager.socket.cloud.OCHSocketMessageManager;
 import com.mogo.och.common.module.manager.socket.cloud.data.OCHOperationalMessage;
 import com.mogo.och.common.module.biz.login.LoginStatusManager;
@@ -449,6 +450,7 @@ public class TaxiModel {
                             if (mOrderStatusCallback != null) {
                                 mOrderStatusCallback.onCurrentOrderCancelDone();
                             }
+                            LineManager.setLineId(-1);
                             clearCurrentOCHOrder();
                             cancelAutopilot();
                         }
@@ -944,10 +946,10 @@ public class TaxiModel {
         }
 
         //3、距离轨迹15m计算
-        String resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot(mCurrentOCHOrder.lineId);
+        String resion = OchAutoPilotManager.canStartAutoPilot(mCurrentOCHOrder.lineId);
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             setStation();
-            resion = TrajectoryAndDistanceManager.INSTANCE.canStartAutopilot(mCurrentOCHOrder.lineId);
+            resion = OchAutoPilotManager.canStartAutoPilot(mCurrentOCHOrder.lineId);
         }
         if(!StringUtils.isEmpty(resion)){
             ToastUtils.showShort(resion);
@@ -958,9 +960,7 @@ public class TaxiModel {
         CallerLogger.e(M_TAXI + TAG, "isPassStartAutopilotCommand = " +
                 FunctionBuildConfig.isPassStartAutopilotCommand);
         //4、ssm 给出数据
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
-            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
-                    ", 请稍候重试");
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             TaxiAnalyticsManager.INSTANCE.triggerUnableStartAPReasonEvent(
                     mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr,
                     String.valueOf(mCurrentOCHOrder.lineId),mCurrentOCHOrder.orderNo,
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index c4e69dd216..5027141912 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -20,8 +20,8 @@ import com.mogo.och.common.module.biz.login.ILoginCallback;
 import com.mogo.och.common.module.biz.login.LoginStatusEnum;
 import com.mogo.och.common.module.biz.login.LoginStatusManager;
 import com.mogo.och.common.module.biz.login.OpenOrderStatusEnum;
-import com.mogo.och.common.module.biz.login.RoleEnum;
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager;
+import com.mogo.och.common.module.manager.autopilot.line.LineManager;
 import com.mogo.och.common.module.voice.VoiceNotice;
 import com.mogo.och.taxi.bean.OrderQueryRespBean;
 import com.mogo.och.taxi.bean.OrderQueryRouteInfoRespBean;
@@ -285,6 +285,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     @Override
     public void onCurrentOrderStatusChanged(OrderQueryRespBean.Result order) {
         CallerLogger.d(M_TAXI + TAG, "order = " + order.toString());
+        LineManager.setLineId(order.lineId);
         if (TaxiOrderStatusEnum.UserArriveAtStart.getCode() == order.orderStatus) {
             TaxiModel.getInstance().queryAutopilotStatus(true);
             TaxiModel.getInstance().setStation();
@@ -311,6 +312,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
             TaxiModel.getInstance().startOrStopCalculateRouteInfo(false);
             TaxiModel.getInstance().cleanLineMarker();
             TaxiModel.getInstance().cleanStation();
+            LineManager.setLineId(-1);
             UiThreadHandler.post(new Runnable() {
                 @Override
                 public void run() {
diff --git a/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml b/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
index 4ec79eb3f4..e528aaad01 100644
--- a/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
+++ b/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
@@ -251,6 +251,7 @@
         android:layout_height="@dimen/dp_142"/>
 
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaTaxiView
+        android:id="@+id/rtv_switch"
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -260,6 +261,14 @@
         app:roma_close_bg="@drawable/common_driverroma_normal"
         app:roma_open_bg="@drawable/common_driver_roma_press" />
 
+    <com.mogo.och.common.module.wigets.map.drawline.LineView
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/rtv_switch"
+        android:layout_marginStart="-11dp"
+        android:layout_marginBottom="@dimen/dp_17"
+        android:layout_width="@dimen/dp_142"
+        android:layout_height="@dimen/dp_142"/>
+
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
@@ -354,7 +363,7 @@
     <com.mogo.eagle.core.function.hmi.ui.widget.ConnectionProcessView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_18"
+        android:layout_marginBottom="@dimen/dp_26"
         app:layout_constraintBottom_toTopOf="@id/viewVersionName"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent"
diff --git a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
index 02494c6afb..798a258de8 100644
--- a/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
+++ b/OCH/taxi/passenger/src/main/java/com/mogo/och/taxi/passenger/model/AutopilotManager.kt
@@ -77,10 +77,10 @@ object AutopilotManager : IOchAutopilotStatusListener {
             return "启动自动驾驶不满足条件"
         }
         //3、距离轨迹15m计算
-        var resion = TrajectoryAndDistanceManager.canStartAutopilot(TaxiPassengerModel.currentOCHOrder!!.lineId)
+        var resion = OchAutoPilotManager.canStartAutoPilot(TaxiPassengerModel.currentOCHOrder!!.lineId)
         if(TrajectoryAndDistanceManager.errorTypeNoneLineId.equals(resion)){
             TaxiPassengerModel.setStation();
-            resion = TrajectoryAndDistanceManager.canStartAutopilot(TaxiPassengerModel.currentOCHOrder!!.lineId);
+            resion = OchAutoPilotManager.canStartAutoPilot(TaxiPassengerModel.currentOCHOrder!!.lineId);
         }
         if (!StringUtils.isEmpty(resion)) {
             ToastUtils.showShort(resion)
@@ -88,11 +88,7 @@ object AutopilotManager : IOchAutopilotStatusListener {
             return resion
         }
         // 4、ssm 给出数据
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
-            ToastUtils.showLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             TaxiPassengerAnalyticsManager.triggerUnableStartAPReasonEvent(
                 TaxiPassengerModel.currentOCHOrder!!.startSiteAddr,
                 TaxiPassengerModel.currentOCHOrder!!.endSiteAddr,
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiRoutingBean.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiRoutingBean.kt
index 26eff72bf6..e13446132e 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiRoutingBean.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/bean/TaxiRoutingBean.kt
@@ -2,6 +2,9 @@ package com.mogo.och.unmanned.taxi.bean
 
 import com.mogo.eagle.core.data.BaseData
 
+/**
+ * 灰度路线信息
+ */
 data class GrayLineBean(
     var lineId: Long?, //线路id
     var lineName: String?, //线路名称
@@ -11,18 +14,30 @@ data class GrayLineBean(
     var lineFailCount: Int?, //线路累计反馈不可用次数
     var isChoosed: Boolean = false, //当前是否选中
     var startSite: RoutingSite?,
-    var endSite: RoutingSite?
+    var endSite: RoutingSite?,
+    var hdMapDBVersionCode: String?,// Routing 运营平台通过算路引擎算这条路时候使用的对应高精地图版本号
+    var hdMapDBVersionName: String?,// Routing 运营平台通过算路引擎算这条路时候使用的对应高精地图版本名
+    var routingEnginVersionCode: String?,// Routing 运营平台当前的算路引擎版本号码
+    var routingEnginVersionName: String?,// Routing 运营平台当前的算路引擎版本名称
+    var wayPoints: MutableList<RoutingSite>?,// Routing 给算路引擎使用的经停点列表，不是真正的要停车
+    var blackPoints: MutableList<RoutingSite>?// Routing 给算路引擎使用的黑名单点，目的是不参与算路
 )
 
+/**
+ * 站点信息
+ */
 data class RoutingSite(
-    var siteId: Long,
-    var siteName: String,
-    var gcjLat: Double,
-    var gcjLon: Double,
-    var wgs84Lon: Double,
-    var wgs84Lat: Double
+    var siteId: Long,// 站点ID
+    var siteName: String,// 站点名称
+    var gcjLat: Double,// 高德坐标
+    var gcjLon: Double,// 高德坐标
+    var wgs84Lon: Double,//高精坐标
+    var wgs84Lat: Double//高精坐标
 )
 
+/**
+ * 轨迹信息
+ */
 data class ContrailBean(
     var lineId: Long = -1L,
     var lineName: String = "",
@@ -37,32 +52,74 @@ data class ContrailBean(
     var txtFileUrlDPQP: String = "",
     var txtFileMd5DPQP: String = "",
     var contrailSaveTimeDPQP: Long = -1L,
-    var version: Long = -1L
+    var version: Long = -1L,
+    var passPoints: MutableList<RoutingSite>?, //  用于算路的经停点
 )
 
+/**
+ * 查询灰度线路列表
+ */
 data class QueryGrayContrailListRsp(var data: MutableList<GrayLineBean>?) : BaseData()
+
+/**
+ * 通过id查询轨迹详情
+ */
 data class StartGrayContrailTaskReq(var sn: String, var contrailId: Long)
+
+/**
+ * 开始一个路线的灰度任务，对服务端的路线标记
+ */
 data class StartGrayContrailTaskRsp(var data: Long?) : BaseData()
+
+/**
+ * 根据id查询灰度轨迹详情
+ */
 data class QueryRoutingContrailByIdRsp(var data: ContrailBean?) : BaseData()
+
+/**
+ * 上报路线打点
+ */
 data class SubmitGrayLineIssueLocationReq(var grayId: Long, var gcjLon: Double, var gcjLat: Double)
-data class EndGrayContrailTaskReq(var grayId: Long, var feedback: Int,var occurrenceTime:Long) //feedback 1:成功 2:失败
+
+/**
+ * 结束一个路线的灰度任务
+ */
+data class EndGrayContrailTaskReq(
+    var grayId: Long,
+    var feedback: Int,
+    var occurrenceTime: Long
+) //feedback 1:成功 2:失败
+
+
+/**
+ * 灰度任务&查询轨迹详情
+ */
 data class StartGrayAndQueryContrailRsp(
     var taskId: Long?,
     var contrail: ContrailBean?,
     var grayLineBean: GrayLineBean
 ) : BaseData()
-data class PointError(var code:String,var name:String,var isCheck:Boolean = false)
 
+data class PointError(var code: String, var name: String, var isCheck: Boolean = false)
+
+/**
+ * 获取打点问题字典
+ */
 data class QueryPointErrorReasonsRsp(var data: MutableList<PointError>?) : BaseData()
+
+/**
+ * 结束一个路线的灰度任务，并上报灰度路线测试情况
+ */
 data class SaveGrayContrailErrorReasons(
     var grayId: Long,
     var gcjLon: Double,
     var gcjLat: Double,
     var wgs84Lon: Double,
     var wgs84Lat: Double,
-    var occurrenceTime:Long,
+    var occurrenceTime: Long,
     var noteCodes: MutableList<String>,
 ) //feedback 1:成功 2:失败
+
 enum class EndGrayTaskFeedbackType(var type: Int) {
     USABLE_YES(1),
     USABLE_NO(2)
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiRoutingCallback.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiRoutingCallback.kt
index aa61832b16..639dc98d64 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiRoutingCallback.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/callback/ITaxiRoutingCallback.kt
@@ -4,14 +4,59 @@ import com.mogo.och.unmanned.taxi.bean.GrayLineBean
 import com.mogo.och.unmanned.taxi.bean.StartGrayAndQueryContrailRsp
 
 interface ITaxiRoutingCallback {
+    /**
+     * 查询灰度路线列表--成功✅
+     */
     fun onQueryRoutingGrayLineListSuccess(data: MutableList<GrayLineBean>)
+
+    /**
+     * 查询灰度路线列表--失败❌
+     * @param errorStr 错误信息
+     */
     fun onQueryRoutingGrayLineListFailed(errorStr: String)
+
+    /**
+     * 灰度任务&查询轨迹详情--成功✅
+     */
     fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp)
+
+    /**
+     * 灰度任务&查询轨迹详情--失败❌
+     * @param errorStr 错误信息
+     */
     fun onStartGrayTaskAndQueryContrailFailed(errorStr: String)
+
+    /**
+     * 灰度任务过程中，上报问题打点--成功✅
+     */
     fun onSubmitGrayLineIssueLocationSuccess()
+
+    /**
+     * 灰度任务过程中，上报问题打点--失败❌
+     * @param errorStr 错误信息
+     */
     fun onSubmitGrayLineIssueLocationFailed(errorStr: String)
+
+    /**
+     * 结束灰度任务--成功✅
+     */
     fun onSubmitEndTaskSuccess()
+
+    /**
+     * 结束灰度任务--成功❌
+     * @param errorStr 错误信息
+     */
     fun onSubmitEndTaskFailed(errorStr: String)
+
+    /**
+     * MAP到站通知
+     * @param grayId 灰度路线ID
+     */
     fun onAutoPilotArriveAtEndStation(grayId: Long?)
+
+    /**
+     * 自车定位围栏
+     * @param grayId 灰度路线ID
+     */
     fun onGDMapArriveAtEndStation(grayId: Long?)
 }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/network/TaxiRoutingServiceManager.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/network/TaxiRoutingServiceManager.kt
index 440de1898e..d7be74f6e9 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/network/TaxiRoutingServiceManager.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/network/TaxiRoutingServiceManager.kt
@@ -105,6 +105,9 @@ object TaxiRoutingServiceManager {
             .subscribe(OchCommonSubscribeImpl(context, callback, "dot/list"))
     }
 
+    /**
+     * 标记灰度任务被启动验证
+     */
     fun startGrayTaskAndQueryRoutingContrail(
         context: Context,
         sn: String,
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt
index 131b6a204b..3cbd05f4bb 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt
@@ -332,13 +332,16 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
             isStarting = false
             if (autopilotLoadingAnimator != null) {
                 autopilotLoadingAnimator!!.end()
-                module_och_autopilot_iv.clearAnimation()
+                module_och_autopilot_iv?.clearAnimation()
                 autopilotLoadingAnimator = null
             }
         }
     }
 
     private fun startAutopilotDone(success: Boolean) {
+        if(module_och_autopilot_iv==null){
+            return
+        }
         if (autopilotLoadingAnimator != null) {
             autopilotLoadingAnimator!!.end()
             module_och_autopilot_iv.clearAnimation()
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java
index 49e6dd146d..12b14ed96b 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/TaxiPresenter.java
@@ -76,9 +76,12 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
      * 开启自动驾驶 自驾模式
      */
     public void startAutoPilot() {
+        // 这里区分是订单还是灰度测试
         if (MogoStatusManager.getInstance().isTaxiUnmanedDriverLineRoutingVerifyMode()) {
+            // 灰度测试
             TaxiRoutingModel.INSTANCE.startAutoPilotByClick();
         } else {
+            // 订单
             TaxiTaskModel.INSTANCE.startAutopilotByClick();
         }
     }
@@ -182,7 +185,7 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
             @Override
             public void run() {
                 if(mView!=null) {
-                    onNaviToEnd(isAmap, isShow);
+                    mView.onNaviToEnd(isAmap, isShow);
                 }
             }
         }, UiThreadHandler.MODE.QUEUE);
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
index 6b2d3310d6..b603912edf 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineActivity.kt
@@ -90,6 +90,8 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
         btnClose.setOnClickListener {
             finish()
         }
+
+        // 选择路线后，「确认」按钮
         btnChooseLineSubmit.setOnClickListener {
             if (mCurrentChosenPosition == -1) {
                 ToastUtils.showLong("请先选择任务")
@@ -99,11 +101,15 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
             mLoadingDialog.showLoading()
             val chosenItem = mRoutingLineList[mCurrentChosenPosition]
             mViewModel.sendUiIntent(
+                // 调用查询接口获取路线详情
                 TaxiRoutingUiIntent.StartTaskAndQueryContrail(chosenItem)
             )
         }
     }
 
+    /**
+     * 初始化UI观察者
+     */
     private fun initViewModelObserver() {
         lifecycleScope.launchWhenStarted {
             mViewModel.uiStateFlow.map { it.routingUiState }.collect { routingUiState ->
@@ -111,6 +117,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
                     TAG,
                     "uiStateFlow-initViewModelObserver: $routingUiState"
                 )
+                // 分发处理具体UI更新
                 when (routingUiState) {
                     is RoutingUIState.Init -> {
                         showEmptyView()
@@ -128,6 +135,7 @@ class TaxiRoutingChooseLineActivity : AppCompatActivity() {
                         }
                     }
 
+                    // 将结果同步更新到UI
                     is RoutingUIState.PostRoutingTaskResult -> {
                         FlowBus.with<RoutingUIState.RoutingTask>(TaxiDriverEventConst.RoutingActivityEvent.EVENT_TYPE_GET_CHOSEN_LINE_TASK)
                             .post(this, RoutingUIState.RoutingTask(
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt
index 97eb4bf2b5..43d87d496f 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineAdapter.kt
@@ -32,6 +32,7 @@ class TaxiRoutingChooseLineAdapter(
     override fun onBindViewHolder(holder: SwitchLineViewHolder, position: Int) {
         val currentPosition = holder.bindingAdapterPosition
         val data = mData[currentPosition]
+
         holder.lineNameTextView.text = data.lineName
         holder.todayVerifyNumTextView.text = "本车今日已验证：${data.carVerificationCount}次"
         holder.historyVerifyNumTextView.text =
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
index 62869d5bf7..777c04dc31 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingChooseLineViewModel.kt
@@ -56,6 +56,9 @@ class TaxiRoutingChooseLineViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRou
         }
     }
 
+    /**
+     * 查询轨迹详情成功的回调
+     */
     override fun onStartGrayTaskAndQueryContrailSuccess(data: StartGrayAndQueryContrailRsp) {
         if (data.taskId == -1L) {
             onStartGrayTaskAndQueryContrailFailed("开始任务失败, 请稍后重试")
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragment.kt
index d768411ef1..50c2c6f2ca 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragment.kt
@@ -121,6 +121,9 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
         }
     }
 
+    /**
+     * 展示选择任务视图
+     */
     private fun showChooseTaskView() {
         noDataContainer.visibility = View.VISIBLE
         mCurrentTaskLayout.visibility = View.GONE
@@ -133,6 +136,9 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
         removeAllMapMarker()
     }
 
+    /**
+     * 展示当前路线任务信息
+     */
     private fun showCurrentLineTaskContentView(data: RoutingUIState.RoutingTask) {
         noDataContainer.visibility = View.GONE
         mCurrentTaskLayout.visibility = View.VISIBLE
@@ -142,6 +148,7 @@ class TaxiRoutingFragment : BaseFragment(), ICommonNaviChangedCallback {
 
         btnChooseTask.visibility = View.GONE
         btnStartTask.visibility = View.VISIBLE
+        // 开始任务，按钮
         btnStartTask.setOnClickListener {
             mViewModel.sendUiIntent(TaxiRoutingUiIntent.StartTaskAction(data))
         }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
index 91799c4971..a8dac1afa1 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingFragmentViewModel.kt
@@ -8,6 +8,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02Lis
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ActivityUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel
 import com.mogo.och.unmanned.taxi.base.BaseViewModel
 import com.mogo.och.unmanned.taxi.base.IUiIntent
@@ -54,11 +55,15 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
                         )
                     )
                 }
+                task.contrailBean?.lineId?.also {
+                    LineManager.setLineId(it)
+                }
                 // 设置灰度路线任务执行状态，切换模式时判断使用
                 MogoStatusManager.getInstance()
                     .setTaxiUnmanedDriverLineRoutingPerformTask(TAG, true)
             }
 
+            // 启动自动驾驶
             is TaxiRoutingUiIntent.StartTaskAction -> {
                 DebugView.printInfoMsg("[开始任务] 准备开始任务")
                 val grayLineBean = intent.routingTask.grayLineBean
@@ -147,6 +152,7 @@ class TaxiRoutingFragmentViewModel : BaseViewModel<TaxiRoutingUiState, TaxiRouti
         TaxiRoutingModel.updateCurrentGrayLineAndContrail(null, null, -1L)
         // 设置灰度路线任务执行状态，切换模式时判断使用
         MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, false)
+        LineManager.setLineId(-1)
         TaxiRoutingModel.startNaviToEndStationByAMap(false)
         // 移除到站监听
         TaxiRoutingModel.removeAutoPilotStatusListener()
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt
index 293cd6f607..db2b59142e 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingModel.kt
@@ -19,12 +19,14 @@ import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils
 import com.mogo.eagle.core.utilcode.util.GsonUtils
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
-import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.manager.autopilot.OCHAdasAbilityManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
 import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager
+import com.mogo.och.common.module.manager.logchainanalytic.OchChainLogManager.writeChainLog
+import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
 import com.mogo.och.unmanned.taxi.bean.ContrailBean
 import com.mogo.och.unmanned.taxi.bean.EndGrayContrailTaskReq
@@ -88,7 +90,9 @@ object TaxiRoutingModel {
         OchAutoPilotStatusListenerManager.removeListener(TAG)
     }
 
-    //MAP到站监听
+    /**
+     * MAP到站监听
+     */
     private val mMogoAutopilotStatusListener: IOchAutopilotStatusListener =
         object : IOchAutopilotStatusListener {
 
@@ -128,7 +132,9 @@ object TaxiRoutingModel {
             }
         }
 
-    // 自车定位监听
+    /**
+     * 自车定位监听
+     */
     private val mMapLocationListener: IMoGoChassisLocationGCJ02Listener =
         object : IMoGoChassisLocationGCJ02Listener {
             override fun onChassisLocationGCJ02(currentLocation: MogoLocation?) {
@@ -199,6 +205,9 @@ object TaxiRoutingModel {
         CallerChassisLocationGCJ02ListenerManager.removeListener(TAG)
     }
 
+    /**
+     * 查询灰度路线
+     */
     fun queryRoutingGrayLineList() {
         DebugView.printInfoMsg("[查询灰度路线] 准备发送请求，sn=${SharedPrefsMgr.getInstance().sn}")
         TaxiRoutingServiceManager.queryRoutingGrayLineList(mContext,
@@ -255,6 +264,9 @@ object TaxiRoutingModel {
             })
     }
 
+    /**
+     * 开始灰度任务&查询轨迹详情
+     */
     fun startGrayTaskAndQueryRoutingContrail(contrailId: Long, grayLineBean: GrayLineBean) {
         DebugView.printInfoMsg("[开始灰度任务&查询轨迹详情] 准备发送请求，contrailId=${contrailId}, lineId=${grayLineBean.lineId}")
         TaxiRoutingServiceManager.startGrayTaskAndQueryRoutingContrail(
@@ -276,6 +288,9 @@ object TaxiRoutingModel {
                     mTaxiRoutingCallbackMap.forEach {
                         val listener = it.value
                         listener.onStartGrayTaskAndQueryContrailSuccess(data)
+
+                        // Routing 从这里解析出经停信息，轨迹信息，并调用下载轨迹接口
+                        sendTrajectoryReq(data)
                     }
                 }
 
@@ -315,6 +330,9 @@ object TaxiRoutingModel {
         )
     }
 
+    /**
+     * 灰度任务过程中，上报问题打点
+     */
     fun submitGrayLineIssueLocation(grayId: Long, gcjLon: Double, gcjLat: Double) {
         DebugView.printInfoMsg("[上报打点] 准备发送请求，grayId=$grayId, gcjLon=$gcjLon, gcjLat=$gcjLat")
         val submit = SubmitGrayLineIssueLocationReq(grayId, gcjLon, gcjLat)
@@ -374,9 +392,12 @@ object TaxiRoutingModel {
         )
     }
 
-    fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType, occurrenceTime:Long,) {
+    /**
+     * 结束灰度任务
+     */
+    fun endGrayTask(grayId: Long, type: EndGrayTaskFeedbackType, occurrenceTime: Long) {
         DebugView.printInfoMsg("[结束灰度任务] 准备发送请求，grayId=$grayId， type=${type.type}, typeName=${type.name}")
-        val submit = EndGrayContrailTaskReq(grayId, type.type,occurrenceTime)
+        val submit = EndGrayContrailTaskReq(grayId, type.type, occurrenceTime)
         TaxiRoutingServiceManager.endGrayTask(
             mContext,
             submit,
@@ -432,6 +453,42 @@ object TaxiRoutingModel {
             })
     }
 
+    /**
+     * 下载路线请求
+     */
+    fun sendTrajectoryReq(startGrayAndQueryContrailRsp: StartGrayAndQueryContrailRsp) {
+        startGrayAndQueryContrailRsp.contrail?.let { contrail ->
+            // 初始化自动驾驶需要的参数
+            val parameters = initAutopilotControlParameters(
+                startGrayAndQueryContrailRsp.grayLineBean,
+                contrail
+            )
+
+            if (parameters!!.autoPilotLine == null) {
+                CallerLogger.e(
+                    SceneConstant.M_BUS + TAG,
+                    "sendTrajectoryReq(): mAutoPilotLine is null!!!"
+                )
+                return
+            }
+            writeChainLog(
+                "轨迹监控",
+                "sendTrajectoryReq() 下发轨迹 轨迹id" + parameters.autoPilotLine!!.lineId,
+                true,
+                OchChainLogManager.EVENT_KEY_INFE_WITH_TRAJECTORY
+            )
+            CallerAutoPilotControlManager.sendTrajectoryDownloadReq(parameters)
+            CallerLogger.d(
+                SceneConstant.M_BUS + TAG,
+                "sendTrajectoryReq(): "
+                        + GsonUtils.toJson(parameters)
+            )
+        }
+    }
+
+    /**
+     * 更新灰度路线信息
+     */
     fun updateCurrentGrayLineAndContrail(
         grayLineBean: GrayLineBean?,
         contrailBean: ContrailBean?,
@@ -442,6 +499,9 @@ object TaxiRoutingModel {
         currentGrayId = grayId
     }
 
+    /**
+     * 灰度测试路线，启动自动驾驶
+     */
     fun startAutoPilotByClick() {
         if (currentGrayLineBean == null || currentContrailBean == null) {
             CallerLogger.e(
@@ -454,6 +514,9 @@ object TaxiRoutingModel {
         startAutoPilot(currentGrayLineBean!!, currentContrailBean!!)
     }
 
+    /**
+     * 启动自动驾驶
+     */
     fun startAutoPilot(grayLineBean: GrayLineBean, contrailBean: ContrailBean) {
         if (grayLineBean.startSite == null || grayLineBean.endSite == null) {
             CallerLogger.e(TAG, "start site or end site is null")
@@ -478,22 +541,21 @@ object TaxiRoutingModel {
         if (!CallerAutoPilotControlManager.isCanStartAutopilot(true)) {
             return
         }
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
+        //4、ssm 给出数据
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
-            ToastUtils.showLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
             return
         }
 
+        // 初始化自动驾驶需要的参数
         val parameters = initAutopilotControlParameters(grayLineBean, contrailBean)
         if (null == parameters) {
             CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
             return
         }
 
-        OchAutoPilotManager.startAutoPilot(parameters);
+        // 开启自动驾驶
+        OchAutoPilotManager.startAutoPilot(parameters)
 
         DebugView.printInfoMsg("[启自驾] 调用成功")
         CallerLogger.d(
@@ -503,6 +565,9 @@ object TaxiRoutingModel {
         mControllerStatusCallback?.startOpenAutopilot()
     }
 
+    /**
+     * 初始化自动驾驶控制参数
+     */
     private fun initAutopilotControlParameters(
         grayLineBean: GrayLineBean,
         contrailBean: ContrailBean
@@ -520,6 +585,36 @@ object TaxiRoutingModel {
         parameters.startLatLon =
             AutopilotControlParameters.AutoPilotLonLat(startWgsLat, startWgsLon)
         parameters.endLatLon = AutopilotControlParameters.AutoPilotLonLat(endWgsLat, endWgsLon)
+
+        // Routing 给算路引擎使用的:经停点列表、黑名单
+        val wayLatLons: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
+        val blackLatLons: MutableList<AutopilotControlParameters.AutoPilotLonLat> = ArrayList()
+
+        if (!contrailBean.passPoints.isNullOrEmpty()) {
+            for (mogoLatLng in contrailBean.passPoints!!) {
+                wayLatLons.add(
+                    AutopilotControlParameters.AutoPilotLonLat(
+                        mogoLatLng.wgs84Lat,
+                        mogoLatLng.wgs84Lon
+                    )
+                )
+            }
+        }
+
+        if (!grayLineBean.blackPoints.isNullOrEmpty()) {
+            for (mogoLatLng in grayLineBean.blackPoints!!) {
+                wayLatLons.add(
+                    AutopilotControlParameters.AutoPilotLonLat(
+                        mogoLatLng.wgs84Lat,
+                        mogoLatLng.wgs84Lon
+                    )
+                )
+            }
+        }
+
+        parameters.wayLatLons = wayLatLons
+        parameters.blackLatLons = blackLatLons
+
         if (parameters.autoPilotLine == null) {
             parameters.autoPilotLine = AutopilotControlParameters.AutoPilotLine(
                 contrailBean.lineId,
@@ -530,11 +625,11 @@ object TaxiRoutingModel {
                 contrailBean.txtFileMd5,
                 contrailBean.contrailSaveTime,
                 TaxiUnmannedConst.BUSINESSTYPE.toString(),
-                contrailBean.csvFileUrlDPQP,
-                contrailBean.csvFileMd5DPQP,
-                contrailBean.txtFileUrlDPQP,
-                contrailBean.txtFileMd5DPQP,
-                contrailBean.contrailSaveTimeDPQP
+                "",
+                "",
+                "",
+                "",
+                -1L
             )
         }
         return parameters
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingUiState.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingUiState.kt
index c455353503..6797e281f2 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingUiState.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/routing/TaxiRoutingUiState.kt
@@ -6,6 +6,9 @@ import com.mogo.och.unmanned.taxi.bean.GrayLineBean
 
 data class TaxiRoutingUiState(val routingUiState: RoutingUIState) : IUiState
 
+/**
+ * 算路UI状态
+ */
 sealed class RoutingUIState {
     object Init : RoutingUIState()
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiCurrentTaskViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiCurrentTaskViewModel.kt
index 818fca55e1..3b66486b24 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiCurrentTaskViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/task/TaxiCurrentTaskViewModel.kt
@@ -16,6 +16,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.network.OchCommonServiceCallback
 import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.utils.ToastUtilsOch
@@ -242,6 +243,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         // 设置task执行相关状态，切换模式时判断使用
         if (result == null || result.taskType == TaskTypeEnum.None.code) {
             MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
+            LineManager.setLineId(-1)
         } else {
             MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, true)
         }
@@ -269,6 +271,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
                 val endStation = MogoLocation()
                 endStation.longitude = curTaskAndOrder.endSite!!.gcjLon
                 endStation.latitude = curTaskAndOrder.endSite!!.gcjLat
+                LineManager.setLineId(result.lineId)
                 TrajectoryAndDistanceManager.setStationPoint(
                     startStation,
                     endStation,
@@ -336,6 +339,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         TaxiTaskModel.cancelAutopilot()
         // 设置task执行相关状态，切换模式时判断使用
         MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
+        LineManager.setLineId(-1)
     }
 
     override fun onOrderArriveAtEnd(orderNo: String) {
@@ -359,6 +363,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         }
         // 设置task执行相关状态，切换模式时判断使用
         MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
+        LineManager.setLineId(-1)
     }
 
     override fun onStartAutopilot(postDelayTime: Long) {
diff --git 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
index c732001b8f..3d5c0ee5b8 100644
--- 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
@@ -51,10 +51,10 @@ import com.mogo.och.common.module.manager.autopilot.autopilot.ArrivedStation
 import com.mogo.och.common.module.manager.autopilot.autopilot.IOchAutopilotStatusListener
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotManager
 import com.mogo.och.common.module.manager.autopilot.autopilot.OchAutoPilotStatusListenerManager
+import com.mogo.och.common.module.manager.autopilot.line.LineManager
 import com.mogo.och.common.module.manager.distance.IDistanceListener
 import com.mogo.och.common.module.manager.distance.ITrajectoryListener
 import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager
-import com.mogo.och.common.module.manager.distance.TrajectoryAndDistanceManager.setStationPoint
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil.coordinateConverterWgsToGcjLocations
 import com.mogo.och.common.module.utils.OCHThreadPoolManager
@@ -644,6 +644,7 @@ object TaxiTaskModel {
                     DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
                     d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
                     mDriveToNearestStationTask = null
+                    LineManager.setLineId(-1)
                     if (isArrivedNearestStation) {// 播报提醒
                         VoiceNotice.showNotice("已到达出车点")
                     }
@@ -824,7 +825,8 @@ object TaxiTaskModel {
                             d(TAG, "queryCurrentTaskOnce ArriveAtEnd")
 
                             //订单到站结束轨迹剩余里程就算和高德计算, 防止到站查询订单全程的显示被覆盖
-                            setStationPoint(null, null, -1L)
+                            LineManager.setLineId(-1)
+                            TrajectoryAndDistanceManager.setStationPoint(null, null, -1L)
                             destroyAmapNavi()
 
                             mTaxiTaskWithOrderCallbackMap.forEach {
@@ -898,7 +900,8 @@ object TaxiTaskModel {
         if (mDriveToNearestStationTask == null){
             destroyAmapNavi()
         }
-        setStationPoint(null, null, -1L)
+        LineManager.setLineId(-1)
+        TrajectoryAndDistanceManager.setStationPoint(null, null, -1L)
     }
 
     fun queryOrderByOrderNo(orderNo: String) {
@@ -1250,7 +1253,7 @@ object TaxiTaskModel {
         }
         // 3、距离轨迹15m计算
         mCurrentTaskWithOrder?.let {
-            val resion = TrajectoryAndDistanceManager.canStartAutopilot(it.lineId)
+            val resion = OchAutoPilotManager.canStartAutoPilot(it.lineId)
             if(!StringUtils.isEmpty(resion)){
                 ToastUtils.showShort(resion);
                 VoiceNotice.showNotice(resion);
@@ -1258,11 +1261,7 @@ object TaxiTaskModel {
             }
         }
         // 4、ssm 给出数据
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
-            ToastUtils.showLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
             val orderNo = mCurrentTaskWithOrder?.order?.orderNo
             TaxiAnalyticsManager.getInstance().triggerUnableStartAPReasonEvent(
@@ -1480,6 +1479,7 @@ object TaxiTaskModel {
         mCurrentTaskWithOrder = null
         mDriveToNearestStationTask = null
         DebugView.printInfoMsg("[登出] 退出登陆")
+        LineManager.setLineId(-1)
         MogoStatusManager.getInstance().setTaxiUnmanedDriverPerformTask(TAG, false)
         MogoStatusManager.getInstance().setTaxiUnmanedDriverTakingOrders(TAG, false)
         MogoStatusManager.getInstance().setTaxiUnmanedDriverLineRoutingPerformTask(TAG, false)
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
index c0c197cf4f..5bccb573d6 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
@@ -255,6 +255,7 @@
         android:layout_height="@dimen/dp_142"/>
 
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaTaxiView
+        android:id="@+id/rtv_switch"
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -264,6 +265,14 @@
         app:roma_close_bg="@drawable/common_driverroma_normal"
         app:roma_open_bg="@drawable/common_driver_roma_press" />
 
+    <com.mogo.och.common.module.wigets.map.drawline.LineView
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/rtv_switch"
+        android:layout_marginStart="-11dp"
+        android:layout_marginBottom="@dimen/dp_17"
+        android:layout_width="@dimen/dp_142"
+        android:layout_height="@dimen/dp_142"/>
+
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
@@ -356,7 +365,7 @@
     <com.mogo.eagle.core.function.hmi.ui.widget.ConnectionProcessView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_18"
+        android:layout_marginBottom="@dimen/dp_26"
         app:layout_constraintBottom_toTopOf="@id/viewVersionName"
         app:layout_constraintEnd_toEndOf="parent"
         app:layout_constraintStart_toStartOf="parent"
diff --git a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/AutopilotManager.kt b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/AutopilotManager.kt
index 98c7c67ffb..f1eb532d68 100644
--- a/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/AutopilotManager.kt
+++ b/OCH/taxi/unmanned-passenger/src/main/java/com/mogo/och/unmanned/passenger/model/AutopilotManager.kt
@@ -80,11 +80,8 @@ object AutopilotManager : IOchAutopilotStatusListener {
         if (!CallerAutoPilotControlManager.isCanStartAutopilot(false)) {
             return "启动自动驾驶不满足条件"
         }
-        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().autopilotAbilityStatus) {
-            ToastUtils.showLong(
-                OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
-                        ", 请稍候重试"
-            )
+        // 4、ssm 给出数据
+        if (!OchAutoPilotManager.canStartAutoPilotSSM()) {
             TaxiPassengerAnalyticsManager.triggerUnableStartAPReasonEvent(
                 TaxiPassengerModel.currentOCHOrder!!.orderStartSite.siteName,
                 TaxiPassengerModel.currentOCHOrder!!.orderEndSite.siteName,
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index 9849c55113..20d84040a4 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -380,6 +380,11 @@ class MoGoAutopilotControlProvider :
             startAutoPilot(controlParameters, Constants.AUTOPILOT_SOURCE.MO_FANG)
         }
     }
+
+    /**
+     * 无参数启动自动驾驶，现在的调用方有：魔方
+     * @param source 数据来源
+     */
     private fun startAutoPilotWithNoParameter(source: Int) {
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             val invokeResult = AdasManager.getInstance()
@@ -396,6 +401,7 @@ class MoGoAutopilotControlProvider :
             }
         }
     }
+
     private fun startAutoPilot(controlParameters: AutopilotControlParameters, source: Int) {
         if (AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode)) {
             val invokeResult = AdasManager.getInstance()
@@ -440,12 +446,15 @@ class MoGoAutopilotControlProvider :
         )
     }
 
-    override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
-        AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine())
+    override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine,  routeInfo: MessagePad.RouteInfo?) {
+        AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(),routeInfo)
     }
 
-    override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
-        AdasManager.getInstance().sendTrajectoryDownloadReq(autoPilotLine.toAutoPilotLine(), downloadType)
+    override fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int,  routeInfo: MessagePad.RouteInfo?) {
+        AdasManager.getInstance().sendTrajectoryDownloadReq(
+            autoPilotLine.toAutoPilotLine(),
+            downloadType,
+            routeInfo)
     }
 
     override fun cancelAutoPilot() {
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index c165e1244d..7df0e654c3 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -74,6 +74,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.status.SweeperTaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop
 import com.zhjt.service.chain.ChainLog
 import fault_management.FmInfo
+import fsm.Fsm2024
 import function_state_management.FunctionStates
 import mogo.telematics.pad.MessagePad
 import mogo.telematics.pad.MessagePad.TrackedObject
@@ -491,6 +492,16 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerFaultManagementStateListenerManager.invokeFaultManagementState(fmInfo)
     }
 
+    /**
+     * FSM状态
+     * 目前在启动自驾前置条件检测440版本中使用
+     * @param header   头
+     * @param fsmState 数据
+     */
+    override fun onFSM2024State(header: MessagePad.Header, fsmState: Fsm2024.FSMStateMsg) {
+        CallerFsm2024ListenerManager.invokeFSM2024State(fsmState)
+    }
+
     /**
      * 数据采集配置应答
      */
@@ -938,10 +949,26 @@ class MoGoAdasListenerImpl : OnAdasListener {
         CallerRoboBusJinlvM1StitchedVideoListenerManager.invokeRoboBusJinlvM1StitchedVideo(data)
     }
 
+    /**
+     * 域控SSM接口接收超时
+     * 状态变动时才会回调，默认SSM状态正常
+     *
+     * @param isTimeout true：SSM接口接收超时  false：SSM接口恢复正常
+     */
     override fun onSsmReceiveTimeout(isTimeout: Boolean) {
         CallerAutoPilotStatusListenerManager.invokeSsmReceiveTimeout(isTimeout)
     }
 
+    /**
+     * 域控FSM接口接收超时
+     * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口
+     *
+     * @param isTimeout true：FSM接口接收超时  false：FSM接口恢复正常
+     */
+    override fun onFsm2024ReceiveTimeout(isTimeout: Boolean) {
+        CallerAutoPilotStatusListenerManager.invokeFsmReceiveTimeout(isTimeout)
+    }
+
     /**
      * 是否可以启动自动驾驶
      * 使用方法查看：app_ipc_monitoring/uiMainActivity/onAutopilotAbility
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index 4a09bd0a37..55986b65a6 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -6,6 +6,7 @@ import android.content.Context
 import android.view.View
 import android.view.ViewGroup
 import com.alibaba.android.arouter.facade.annotation.Route
+import com.alibaba.android.arouter.launcher.ARouter
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.debug.DebugConfig
 import com.mogo.eagle.core.data.EnvConfig
@@ -26,6 +27,7 @@ import com.mogo.eagle.core.function.api.devatools.logcat.*
 import com.mogo.eagle.core.function.api.devatools.mofang.*
 import com.mogo.eagle.core.function.api.devatools.perf.IMoGoCpuUsageProvider
 import com.mogo.eagle.core.function.api.lookaround.*
+import com.mogo.eagle.core.function.api.map.route.IMapRouteProvider
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
 import com.tencent.matrix.Matrix
@@ -112,6 +114,10 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
     private val downloadCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Int) -> Unit>>() }
     private val startAutopilotCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Boolean) -> Unit>>() }
 
+    private val mapRouteProvider by lazy {
+        ARouter.getInstance().build(MogoServicePaths.PATH_MAP_ROUTE_GUIDE).navigation() as? IMapRouteProvider
+    }
+
     @Volatile
     private var lastCanAutopilotStatus: Int? = null
 
@@ -607,4 +613,8 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
     override fun unRegisterStartAutopilotStateListener(tag: String) {
         startAutopilotCallbacks.remove(tag)
     }
+
+    override fun setRouteDynamicColorEnable(enable: Boolean) {
+        mapRouteProvider?.setRouteDynamicColorEnable(enable)
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
index 6075965d76..10b764edd5 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/logcat/MoGoLogRecordProviderImpl.kt
@@ -23,6 +23,7 @@ import com.mogo.eagle.core.data.app.AppConfigInfo
 import com.mogo.eagle.core.function.api.devatools.logcat.*
 import com.mogo.eagle.core.utilcode.download.DownloadUtils
 import com.zhidao.loglib.bean.RemoteLogPushContent
+import com.zhjt.mogo_core_function_devatools.BuildConfig
 import com.zhjt.mogo_core_function_devatools.logcat.checker.AnrLogChecker
 import com.zhjt.mogo_core_function_devatools.logcat.config.LogRecordConfig
 import com.zhjt.mogo_core_function_devatools.logcat.uploader.*
@@ -73,6 +74,7 @@ internal class MoGoLogRecordProviderImpl: IMoGoLogRecordProvider,
                         itx["应用版本名称"] = AppConfigInfo.appVersionName
                         itx["应用版本号"] = AppConfigInfo.appVersionCode
                         itx["渠道"] = AppConfigInfo.flavor
+                        itx["构建类型"] = BuildConfig.BUILD_TYPE
                         itx["GIT分支"] = AppConfigInfo.workingBranchName
                         itx["GIT分支HASH"] = AppConfigInfo.workingBranchHash
                         itx["${divider}-2"] = divider
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index df1965b8e1..5d16671ddc 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -1378,6 +1378,7 @@ internal class DebugSettingView @JvmOverloads constructor(
         tbRouteDynamicEffect.isChecked = HmiBuildConfig.isShowRouteStrategy
         tbRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
             HmiBuildConfig.isShowRouteStrategy = isChecked
+            CallerDevaToolsManager.setRouteDynamicColorEnable(isChecked)
         }
 
         btnThresholdDefine.setOnClickListener {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 368e2d6a61..fe673db706 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -419,6 +419,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         scRouteDynamicEffect.setOnCheckedChangeListener { _, isChecked ->
             hmiAction("SOP 引导线动态效果, ", isChecked)
             HmiBuildConfig.isShowRouteStrategy = isChecked
+            CallerDevaToolsManager.setRouteDynamicColorEnable(isChecked)
         }
 
         //点云效果
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt
index c8d9d7023c..e80206edee 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ConnectionProcessView.kt
@@ -84,6 +84,9 @@ class ConnectionProcessView @JvmOverloads constructor(
             CallerAutoPilotStatusListenerManager.removeListener(TAG)
             //隐藏视图
             dismissConnectionView()
+            //如果已经开始连接倒计时，则取消Timer
+            connectSSMTimer?.cancel()
+            autopilotReadyTimer?.cancel()
         }
     }
 
@@ -212,14 +215,16 @@ class ConnectionProcessView @JvmOverloads constructor(
      * 展示域控连接成功视图
      */
     private fun showIPCConnectSuccessView(){
-        ThreadUtils.runOnUiThread {
-            this.visibility = View.VISIBLE
-            pbConnectionProgress.setPadding(5,3,5,8)
-            pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_progress_style)
-            pbConnectionProgress.progress = 25
-            tvConnectionStatus.setPadding(0,0,0,10)
-            tvConnectionStatus.text = "系统启动中..."
-            clConnectionTip.visibility = View.GONE
+        if(HmiBuildConfig.isShowConnectionProgressView){
+            ThreadUtils.runOnUiThread {
+                this.visibility = View.VISIBLE
+                pbConnectionProgress.setPadding(5,3,5,8)
+                pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_progress_style)
+                pbConnectionProgress.progress = 25
+                tvConnectionStatus.setPadding(0,0,0,10)
+                tvConnectionStatus.text = "系统启动中..."
+                clConnectionTip.visibility = View.GONE
+            }
         }
     }
 
@@ -227,14 +232,16 @@ class ConnectionProcessView @JvmOverloads constructor(
      * 展示SSM连接成功视图
      */
     private fun showSSMConnectSuccessView(){
-        ThreadUtils.runOnUiThread{
-            this.visibility = View.VISIBLE
-            pbConnectionProgress.setPadding(5,3,5,8)
-            pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_progress_style)
-            pbConnectionProgress.progress = 50
-            tvConnectionStatus.setPadding(0,0,0,10)
-            tvConnectionStatus.text = "系统启动中..."
-            clConnectionTip.visibility = View.GONE
+        if(HmiBuildConfig.isShowConnectionProgressView){
+            ThreadUtils.runOnUiThread{
+                this.visibility = View.VISIBLE
+                pbConnectionProgress.setPadding(5,3,5,8)
+                pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_progress_style)
+                pbConnectionProgress.progress = 50
+                tvConnectionStatus.setPadding(0,0,0,10)
+                tvConnectionStatus.text = "系统启动中..."
+                clConnectionTip.visibility = View.GONE
+            }
         }
     }
 
@@ -242,14 +249,16 @@ class ConnectionProcessView @JvmOverloads constructor(
      * 展示冷启动成功视图
      */
     private fun showAutopilotReadySuccessView(){
-        ThreadUtils.runOnUiThread{
-            this.visibility = View.VISIBLE
-            pbConnectionProgress.setPadding(0,0,0,0)
-            pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_success_style)
-            pbConnectionProgress.progress = 100
-            tvConnectionStatus.setPadding(0,0,0,0)
-            tvConnectionStatus.text = "系统启动成功"
-            clConnectionTip.visibility = View.GONE
+        if(HmiBuildConfig.isShowConnectionProgressView){
+            ThreadUtils.runOnUiThread{
+                this.visibility = View.VISIBLE
+                pbConnectionProgress.setPadding(0,0,0,0)
+                pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_success_style)
+                pbConnectionProgress.progress = 100
+                tvConnectionStatus.setPadding(0,0,0,0)
+                tvConnectionStatus.text = "系统启动成功"
+                clConnectionTip.visibility = View.GONE
+            }
         }
     }
 
@@ -257,16 +266,18 @@ class ConnectionProcessView @JvmOverloads constructor(
      * 展示域控连接失败视图
      */
     private fun showIPCConnectFailView(){
-        ThreadUtils.runOnUiThread {
-            this.visibility = View.VISIBLE
-            pbConnectionProgress.setPadding(0,0,0,0)
-            pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_fail_style)
-            pbConnectionProgress.progress = 25
-            tvConnectionStatus.setPadding(0,0,0,0)
-            tvConnectionStatus.text = "系统启动异常"
-            clConnectionTip.visibility = View.VISIBLE
-            tvConnectionTipTitle.text = "Telematics连接异常"
-            tvConnectionTipContent.text = "建议重启车辆并上报问题"
+        if(HmiBuildConfig.isShowConnectionProgressView){
+            ThreadUtils.runOnUiThread {
+                this.visibility = View.VISIBLE
+                pbConnectionProgress.setPadding(0,0,0,0)
+                pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_fail_style)
+                pbConnectionProgress.progress = 25
+                tvConnectionStatus.setPadding(0,0,0,0)
+                tvConnectionStatus.text = "系统启动异常"
+                clConnectionTip.visibility = View.VISIBLE
+                tvConnectionTipTitle.text = "Telematics连接异常"
+                tvConnectionTipContent.text = "建议重启车辆并上报问题"
+            }
         }
     }
 
@@ -274,16 +285,18 @@ class ConnectionProcessView @JvmOverloads constructor(
      * 展示SSM连接失败视图
      */
     private fun showSSMConnectFailView(){
-        ThreadUtils.runOnUiThread {
-            this.visibility = View.VISIBLE
-            pbConnectionProgress.setPadding(0,0,0,0)
-            pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_fail_style)
-            pbConnectionProgress.progress = 50
-            tvConnectionStatus.setPadding(0,0,0,0)
-            tvConnectionStatus.text = "系统启动异常"
-            clConnectionTip.visibility = View.VISIBLE
-            tvConnectionTipTitle.text = "SSM连接异常"
-            tvConnectionTipContent.text = "建议重启车辆并上报问题"
+        if(HmiBuildConfig.isShowConnectionProgressView){
+            ThreadUtils.runOnUiThread {
+                this.visibility = View.VISIBLE
+                pbConnectionProgress.setPadding(0,0,0,0)
+                pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_fail_style)
+                pbConnectionProgress.progress = 50
+                tvConnectionStatus.setPadding(0,0,0,0)
+                tvConnectionStatus.text = "系统启动异常"
+                clConnectionTip.visibility = View.VISIBLE
+                tvConnectionTipTitle.text = "SSM连接异常"
+                tvConnectionTipContent.text = "建议重启车辆并上报问题"
+            }
         }
     }
 
@@ -291,16 +304,18 @@ class ConnectionProcessView @JvmOverloads constructor(
      * 展示SSM冷启动失败视图
      */
     private fun showAutopilotReadyFailView(){
-        ThreadUtils.runOnUiThread {
-            this.visibility = View.VISIBLE
-            pbConnectionProgress.setPadding(0,0,0,0)
-            pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_fail_style)
-            pbConnectionProgress.progress = 100
-            tvConnectionStatus.setPadding(0,0,0,0)
-            tvConnectionStatus.text = "系统启动异常"
-            clConnectionTip.visibility = View.VISIBLE
-            tvConnectionTipTitle.text = "系统冷启动异常"
-            tvConnectionTipContent.text = "建议重启车辆并上报问题"
+        if(HmiBuildConfig.isShowConnectionProgressView){
+            ThreadUtils.runOnUiThread {
+                this.visibility = View.VISIBLE
+                pbConnectionProgress.setPadding(0,0,0,0)
+                pbConnectionProgress.progressDrawable = ContextCompat.getDrawable(context, R.drawable.connection_fail_style)
+                pbConnectionProgress.progress = 100
+                tvConnectionStatus.setPadding(0,0,0,0)
+                tvConnectionStatus.text = "系统启动异常"
+                clConnectionTip.visibility = View.VISIBLE
+                tvConnectionTipTitle.text = "系统冷启动异常"
+                tvConnectionTipContent.text = "建议重启车辆并上报问题"
+            }
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_msg_box_v2x.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_msg_box_v2x.png
deleted file mode 100644
index d41c75bc33..0000000000
Binary files a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable-xhdpi/bg_msg_box_v2x.png and /dev/null differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_msg_box_v2x.9.png b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_msg_box_v2x.9.png
new file mode 100644
index 0000000000..d9d4a5b2b2
Binary files /dev/null and b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_msg_box_v2x.9.png differ
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml
index 8718a6c212..af6c0e91af 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_autopilot.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -30,7 +31,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivAutopilotImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -42,7 +45,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -54,9 +57,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvAutopilotTitle"
         app:layout_constraintRight_toRightOf="@id/tvAutopilotTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml
index 9b2403e515..59c58fdb9d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_fsm.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -30,7 +31,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivFSMImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -42,7 +45,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -54,9 +57,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvFSMTitle"
         app:layout_constraintRight_toRightOf="@id/tvFSMTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml
index fb4d2d14fc..9cfb6b9827 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_ssm.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -30,7 +31,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivSsmImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -42,7 +45,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -54,9 +57,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvSsmTitle"
         app:layout_constraintRight_toRightOf="@id/tvSsmTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml
index 95f88716a2..dd60fb62ea 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_box_v2x.xml
@@ -1,7 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -28,7 +29,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivV2XImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -40,7 +43,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -52,9 +55,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvV2XTitle"
         app:layout_constraintRight_toRightOf="@id/tvV2XTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml
index 9f0199eb80..8f23c77a4a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_autopilot.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:id="@+id/clAutopilotLayout"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -30,7 +31,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivAutopilotImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -42,7 +45,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -54,9 +57,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvAutopilotTitle"
         app:layout_constraintRight_toRightOf="@id/tvAutopilotTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml
index ed2245fa1f..468e6fd76d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_fsm.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:id="@+id/clFSMLayout"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -30,7 +31,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivFSMImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -42,7 +45,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -54,9 +57,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvFSMTitle"
         app:layout_constraintRight_toRightOf="@id/tvFSMTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml
index 5aa40ef9ba..884c218e64 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_ssm.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:id="@+id/clSsmLayout"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -30,7 +31,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivSsmImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -42,7 +45,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -54,9 +57,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvSsmTitle"
         app:layout_constraintRight_toRightOf="@id/tvSsmTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginBottom="@dimen/dp_5"
+        android:layout_marginTop="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml
index 55ac93d864..3239c78652 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/item_msg_bubble_v2x.xml
@@ -2,7 +2,8 @@
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:id="@+id/clV2XLayout"
     android:layout_width="@dimen/dp_804"
-    android:layout_height="@dimen/dp_160"
+    android:layout_height="wrap_content"
+    android:minHeight="@dimen/dp_160"
     xmlns:app="http://schemas.android.com/apk/res-auto"
     android:background="@drawable/bg_msg_box_v2x"
     android:layout_gravity="center_horizontal"
@@ -28,7 +29,9 @@
         app:layout_constraintLeft_toRightOf="@id/ivV2XImage"
         android:layout_marginStart="@dimen/dp_15"
         android:textColor="#FFFFFFFF"
-        android:textSize="@dimen/dp_32"
+        android:textSize="@dimen/sp_32"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
     <TextView
@@ -40,7 +43,7 @@
         app:layout_constraintRight_toRightOf="parent"
         android:layout_marginEnd="25dp"
         android:textColor="#80FFFFFF"
-        android:textSize="24dp"
+        android:textSize="@dimen/sp_24"
         />
 
     <TextView
@@ -52,9 +55,9 @@
         app:layout_constraintLeft_toLeftOf="@id/tvV2XTitle"
         app:layout_constraintRight_toRightOf="@id/tvV2XTime"
         android:textColor="#B3FFFFFF"
-        android:textSize="@dimen/dp_28"
-        android:maxLines="2"
-        android:ellipsize="end"
+        android:textSize="@dimen/sp_28"
+        android:layout_marginTop="@dimen/dp_5"
+        android:layout_marginBottom="@dimen/dp_5"
         />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git 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
index aa9311d344..4c03580f0c 100644
--- 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
@@ -11,6 +11,7 @@ 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.identify.MapIdentifySubscriber
 import com.mogo.eagle.core.function.business.routeoverlay.MogoRouteOverlayManager
+import com.mogo.eagle.core.function.business.trajectoryoverlay.MogoTrajectoryOverlayManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.map.MapDataWrapper
@@ -25,6 +26,7 @@ class MapBizProvider :IMoGoFunctionServerProvider, IMogoRoma {
         MapDataWrapper.init()
         MapIdentifySubscriber.instance
         MogoRouteOverlayManager.getInstance().init()
+        MogoTrajectoryOverlayManager.getInstance().init()
         MapPointCloudSubscriber.instance
         SpeedLimitDataManager.getInstance().start()
         if(DeviceUtils.isLenovoModel() || DeviceUtils.isEB5Model()){ //todo 新增稳定设备类型需要添加，目的避免在nuc设备上使用此类功能
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MapRouteProviderImpl.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MapRouteProviderImpl.kt
new file mode 100644
index 0000000000..65b9d4a0a6
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/MapRouteProviderImpl.kt
@@ -0,0 +1,16 @@
+package com.mogo.eagle.core.function.business.routeoverlay
+
+import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.map.route.IMapRouteProvider
+
+@Route(path = MogoServicePaths.PATH_MAP_ROUTE_GUIDE)
+class MapRouteProviderImpl: IMapRouteProvider {
+
+    override fun setRouteDynamicColorEnable(enable: Boolean) {
+        RouteStrategy.isEnable = enable
+    }
+
+    override fun init(context: Context?) { }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
index e162b3eadd..b0f89139f7 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteOverlayDrawer.java
@@ -81,7 +81,7 @@ public class RouteOverlayDrawer {
             if (mRenderTask != null) {
                 mRenderHandler.removeCallbacks(mRenderTask);
             }
-            mogoOverlayManager.removeAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
+            mogoOverlayManager.hideAllLinesInLevel(Level.GUIDE_ROUTE_LINE);
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt
index 842b39524f..39fe240313 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/routeoverlay/RouteStrategy.kt
@@ -3,13 +3,11 @@ package com.mogo.eagle.core.function.business.routeoverlay
 import android.animation.ArgbEvaluator
 import android.graphics.Color
 import android.view.animation.AccelerateInterpolator
-import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_BLUE_DARK
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_RED_DARK
 import com.mogo.eagle.core.function.business.routeoverlay.Colors.Companion.COLOR_TRANSPARENT
-import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import java.util.*
 import kotlin.properties.Delegates
 
@@ -42,7 +40,7 @@ class ColorfulStrategy(private val colors: List<Int> = emptyList(), var isLightO
 
 object RouteStrategy {
 
-    private var isEnable by Delegates.observable(HmiBuildConfig.isShowRouteStrategy) { _, _, newValue ->
+    internal var isEnable by Delegates.observable(HmiBuildConfig.isShowRouteStrategy) { _, _, newValue ->
         if (!newValue) {
             strategy = null
             colors.clear()
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java
new file mode 100644
index 0000000000..2ecfd9468c
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayManager.java
@@ -0,0 +1,106 @@
+package com.mogo.eagle.core.function.business.trajectoryoverlay;
+
+import android.util.Log;
+import android.util.Pair;
+
+import androidx.annotation.Nullable;
+
+import com.mogo.commons.utils.MogoAnalyticUtils;
+import com.mogo.eagle.core.data.map.MogoLocation;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager;
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+import mogo.telematics.pad.MessagePad;
+
+public class MogoTrajectoryOverlayManager implements IMoGoPlanningRottingListener, IMoGoChassisLocationGCJ02Listener {
+    private static volatile MogoTrajectoryOverlayManager sInstance;
+    private static final String TAG = "MogoTrajectoryOverlayManager";
+    private static final String ANALYTICS_KEY = "mogo_map_trajectory_overlay_manager";
+
+    private final List<MessagePad.Location> queue = new ArrayList<>();
+
+    private MogoTrajectoryOverlayManager() {
+    }
+
+    public void init() {
+        CallerPlanningRottingListenerManager.INSTANCE.addListener(TAG, this);
+        CallerChassisLocationGCJ02ListenerManager.INSTANCE.addListener(TAG, 1, this);
+    }
+
+    public static MogoTrajectoryOverlayManager getInstance() {
+        if (sInstance == null) {
+            synchronized (MogoTrajectoryOverlayManager.class) {
+                if (sInstance == null) {
+                    sInstance = new MogoTrajectoryOverlayManager();
+                    //需要先初始化，否则第一次调用drawTrajectoryOverlayOnce()会因为mRenderHandler=null实际不会绘制
+                    TrajectoryOverlayDrawer.getInstance();
+                }
+            }
+        }
+        return sInstance;
+    }
+
+    @Override
+    public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp globalPathResp) {
+        if (globalPathResp != null) {
+            CallerLogger.i(TAG, "onAutopilotRotting size=" + globalPathResp.getWayPointsList().size());
+            synchronized (queue) {
+                queue.clear();
+                queue.addAll(globalPathResp.getWayPointsList());
+            }
+            trackEvent("onAutopilotRotting", "接收到全局轨迹规划, size=" + globalPathResp.getWayPointsList().size());
+        }
+    }
+
+    @Override
+    public void onChassisLocationGCJ02(@Nullable MogoLocation gnssInfo) {
+
+    }
+
+    public Pair<Boolean, String> drawTrajectoryOverlayOnce() {
+        CallerLogger.i(TAG, "drawTrajectoryOverlayOnce");
+        trackEvent("drawTrajectoryOverlayOnce", "开始执行");
+        synchronized (queue) {
+            if (queue != null && !queue.isEmpty()) {
+                double heading = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getHeading();
+                TrajectoryOverlayDrawer.getInstance().drawTrajectoryList(queue, heading);
+                trackEvent("drawTrajectoryOverlayOnce", "执行结果(result=true, msg=success)");
+                return new Pair(true, "success");
+            }
+            trackEvent("drawTrajectoryOverlayOnce", "执行结果(result=false, msg=全局轨迹未就绪或为空)");
+            return new Pair(false, "全局轨迹未就绪或为空");
+        }
+    }
+
+    public void clearTrajectoryOverlay(boolean isClearData) {
+        CallerLogger.i(TAG, "clearTrajectoryOverlay");
+        trackEvent("clearTrajectoryOverlay", "开始执行");
+        TrajectoryOverlayDrawer.getInstance().clearMogoTrajectoryOverlay();
+        if (isClearData) {
+            queue.clear();
+        }
+        trackEvent("clearTrajectoryOverlay", "success");
+    }
+
+    public void trackEvent(String eventKey, String eventValue) {
+        ThreadUtils.getIoPool().submit(new Runnable() {
+            @Override
+            public void run() {
+                Log.i(TAG, eventKey + "-->" + eventValue);
+                Map map = new HashMap();
+                map.put(eventKey, eventValue);
+                MogoAnalyticUtils.INSTANCE.track(ANALYTICS_KEY, map);
+            }
+        });
+    }
+}
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt
new file mode 100644
index 0000000000..c2ea315c0c
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/MogoTrajectoryOverlayProvider.kt
@@ -0,0 +1,43 @@
+package com.mogo.eagle.core.function.business.trajectoryoverlay
+
+import android.content.Context
+import com.alibaba.android.arouter.facade.annotation.Route
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.map.trajectory.IMoGoGlobalTrajectoryDrawListener
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import java.util.concurrent.atomic.AtomicReference
+
+@Route(path = MogoServicePaths.PATH_MAP_GLOBAL_TRAJECTORY)
+class MogoTrajectoryOverlayProvider : IMoGoGlobalTrajectoryDrawListener {
+
+    companion object {
+        private const val TAG = "MogoTrajectoryOverlayProvider"
+    }
+
+    private var hasDrawn = AtomicReference<Boolean>(false)
+
+    override fun init(context: Context?) {
+        CallerLogger.i(TAG, "---init---")
+    }
+
+    override fun hasDrawnGlobalTrajectory(): Boolean {
+        val result =  hasDrawn.get()
+        CallerLogger.i(TAG, "hasDrawnGlobalTrajectory --> hasDrawn=$result")
+        return result
+    }
+
+    override fun drawGlobalTrajectory(): Pair<Boolean, String> {
+        val result = MogoTrajectoryOverlayManager.getInstance().drawTrajectoryOverlayOnce()
+        if (result.first) {
+            hasDrawn.set(result.first)
+        }
+        CallerLogger.i(TAG, "drawGlobalTrajectory --> hasDrawn=$hasDrawn, result.first=${result.first}, result.second=${result.second}")
+        return Pair(result.first, result.second)
+    }
+
+    override fun clearGlobalTrajectory(isClearData: Boolean) {
+        MogoTrajectoryOverlayManager.getInstance().clearTrajectoryOverlay(isClearData)
+        hasDrawn.set(false)
+        CallerLogger.i(TAG, "clearGlobalTrajectory --> hasDrawn=$hasDrawn")
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java
new file mode 100644
index 0000000000..7f7104eab5
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryOverlayDrawer.java
@@ -0,0 +1,288 @@
+package com.mogo.eagle.core.function.business.trajectoryoverlay;
+
+import static com.mogo.map.MogoMap.DEFAULT;
+
+import android.annotation.SuppressLint;
+import android.graphics.Color;
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.util.Log;
+
+import androidx.core.util.Pools;
+
+import com.mogo.eagle.core.data.map.MogoLatLng;
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.utilcode.util.DrivingDirectionUtils;
+import com.mogo.map.overlay.IMoGoOverlayManager;
+import com.mogo.map.overlay.core.Level;
+import com.mogo.map.overlay.line.Polyline;
+import com.zhidaoauto.map.sdk.open.common.tools.MapTools;
+
+import java.util.ArrayList;
+import java.util.LinkedList;
+import java.util.List;
+
+import kotlin.Pair;
+import mogo.telematics.pad.MessagePad;
+
+public class TrajectoryOverlayDrawer {
+
+    private static final String TAG = "TrajectoryOverlayDrawer";
+
+    // 连接线参数
+    private Handler mRenderHandler;
+    private final IMoGoOverlayManager mogoOverlayManager;
+    private static volatile TrajectoryOverlayDrawer sInstance;
+    private static final byte[] obj = new byte[0];
+    private Polyline.Options mPolylineOptions;
+    private static final int COLOR_LIGHT = Color.parseColor("#BAEBF5");
+    private static final int mPolylineWidth = 50;
+
+    //用于taxi乘客屏渐变颜色集合
+    private static List<Integer> colors = null;
+
+    private TrajectoryOverlayDrawer() {
+        // 渐变色
+        mogoOverlayManager = CallerMapUIServiceManager.INSTANCE.getOverlayManager();
+        if (mogoOverlayManager != null) {
+            mPolylineOptions = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE)
+                    .setUseGps(true)
+                    .setWidth(mPolylineWidth)
+                    .setIsGradient(true)
+                    .build();
+
+            // 线条粗细，渐变，渐变色值
+            HandlerThread renderTask = new HandlerThread("trajectory_render") {
+                @Override
+                protected void onLooperPrepared() {
+                    super.onLooperPrepared();
+                    mRenderHandler = new Handler(getLooper());
+                }
+            };
+            renderTask.start();
+        }
+    }
+
+    public static TrajectoryOverlayDrawer getInstance() {
+        if (sInstance == null) {
+            synchronized (obj) {
+                if (sInstance == null) {
+                    sInstance = new TrajectoryOverlayDrawer();
+                }
+            }
+        }
+        return sInstance;
+    }
+
+    public void clearMogoTrajectoryOverlay() {
+        if (mogoOverlayManager != null) {
+            if (mRenderTask != null) {
+                mRenderHandler.removeCallbacks(mRenderTask);
+            }
+            mogoOverlayManager.hideAllLinesInLevel(Level.TRAJECTORY_LINE);
+        }
+    }
+
+    private class RenderTask implements Runnable {
+        private volatile List<MessagePad.Location> routeList;
+        private final Pools.Pool<MogoLatLng> pools;
+        private final LinkedList<MogoLatLng> points;
+        private double bearing;
+
+        public RenderTask() {
+            this.pools = new Pools.SimplePool<>(500);
+            this.points = new LinkedList<>();
+        }
+
+        public void setData(List<MessagePad.Location> routeList, double bearing) {
+            this.routeList = routeList;
+            this.bearing = bearing;
+        }
+
+        @SuppressLint("LongLogTag")
+        @Override
+        public void run() {
+            IMoGoOverlayManager overlayManager = mogoOverlayManager;
+            if (overlayManager == null) {
+                return;
+            }
+            LinkedList<MogoLatLng> pps = this.points;
+            boolean isExcept = false;
+            int total;
+
+            try {
+                pps.clear();
+                List<MessagePad.Location> routes = this.routeList;
+                if (routes == null || (total = routes.size()) < 2) {
+                    isExcept = true;
+                    return;
+                }
+                //boolean isColorfulStrategy = !AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode) || !AppIdentityModeUtils.isPassenger(FunctionBuildConfig.appIdentityMode);
+                //全局轨迹线 没有颜色策略，使用固定颜色
+                boolean isColorfulStrategy = false;
+                if (isColorfulStrategy) {
+                    TrajectoryStrategy.INSTANCE.start();
+                } else {
+                    if (colors == null) {
+                        ArrayList<Pair<Integer, Integer>> temps = new ArrayList<>();
+                        temps.add(new Pair<>(0, 70));
+                        temps.add(new Pair<>(2, 100));
+                        temps.add(new Pair<>(98, 100));
+                        temps.add(new Pair<>(100, 70));
+                        List<Integer> alphas = MapTools.INSTANCE.getColorAlpha(temps);
+                        if (alphas != null && !alphas.isEmpty()) {
+                            colors = new ArrayList<>();
+                            for (int i : alphas) {
+                                colors.add(Color.argb(i, 48,163,255));
+                            }
+                        }
+                    }
+                }
+                for (int i = 0; i < total; i++) {
+                    MessagePad.Location route = null;
+                    try {
+                        route = routes.get(i);
+                        if (route == null) {
+                            continue;
+                        }
+                    } catch (Throwable t) {
+                        Log.d("Trajectory", "render-error:" + t.getMessage());
+                    }
+                    if (route == null) {
+                        //数组越界了，结束循环
+                        break;
+                    }
+                    MogoLatLng acquire = pools.acquire();
+                    double latitude = route.getLatitude();
+                    double longitude = route.getLongitude();
+                    if (acquire == null) {
+                        acquire = new MogoLatLng(latitude, longitude);
+                    } else  {
+                        acquire.lon = longitude;
+                        acquire.lat = latitude;
+                    }
+                    pps.add(acquire);
+                }
+//                double lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+//                double lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
+                if (points.size() > 0) {
+//                    MogoLatLng top = null;
+//                    while (points.size() != 0) {
+//                        MogoLatLng first = points.peek();
+//                        if (first == null) {
+//                            continue;
+//                        }
+//                        if (first == top) {
+//                            break;
+//                        }
+//                        lon = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLongitude();
+//                        lat = CallerChassisLocationWGS84ListenerManager.INSTANCE.getChassisLocationWGS84().getLatitude();
+//                        long angle = isPointOnCarFront(lon, lat, bearing, first.lon, first.lat);
+//                        if (angle >= 90) {
+//                            if (isColorfulStrategy) {
+//                                TrajectoryStrategy.INSTANCE.remove(first.acc);
+//                            }
+//                            pools.release(first);
+//                            points.poll();
+//                        }
+//                        top = first;
+//                    }
+//                    if (points.size() == 0) {
+//                        isExcept = true;
+//                        return;
+//                    }
+//                    MogoLatLng self = pools.acquire();
+//                    if (self == null) {
+//                        self = new MogoLatLng(lat, lon);
+//                    } else {
+//                        self.lat = lat;
+//                        self.lon = lon;
+//                    }
+//                    points.addFirst(self);
+
+                    Polyline.Options.Builder builder;
+                    if (mPolylineOptions == null) {
+                        builder = new Polyline.Options.Builder("trajectory_overlay", Level.TRAJECTORY_LINE)
+                                .setUseGps(true)
+                                .setWidth(mPolylineWidth)
+                                .setIsGradient(false);
+                    } else {
+                        builder = mPolylineOptions.builder();
+                    }
+
+                    if (isColorfulStrategy) {
+                        TrajectoryStrategy.INSTANCE.end();
+                        Strategy strategy = TrajectoryStrategy.INSTANCE.getStrategy();
+                        List<Integer> colors = strategy.getColors();
+                        boolean isLightOn = strategy instanceof ColorfulStrategy && ((ColorfulStrategy) strategy).isLightOn();
+                        builder.colors(colors);
+                        builder.setLightOn(isLightOn);
+                        //builder.setLightColor(COLOR_LIGHT);
+                        //builder.setLightSpeed(0.3f);
+                    } else {
+                        if (colors != null && !colors.isEmpty()) {
+                            builder.colors(colors);
+                            builder.setIsGradient(true);
+                            builder.setLightOn(false);
+                            //builder.setLightColor(COLOR_LIGHT);
+                            //builder.setLightSpeed(0.3f);
+                        }
+                    }
+                    builder.points(points);
+                    builder.setVisible(true);
+                    Polyline.Options options = builder.build();
+                    if (mPolylineOptions == null) {
+                        mPolylineOptions = options;
+                    }
+                    overlayManager.showOrUpdateLine(options,DEFAULT);
+                } else {
+                    isExcept = true;
+                }
+            } catch (Throwable t) {
+                t.printStackTrace();
+            } finally {
+                if (isExcept) {
+                    setVisible(false);
+                }
+                if (points.size() > 0) {
+                    for (int i = 0; i < points.size(); i++) {
+                        MogoLatLng latLng = points.get(i);
+                        if (latLng == null) {
+                            continue;
+                        }
+                        pools.release(latLng);
+                    }
+                }
+            }
+        }
+
+        private long isPointOnCarFront(double car_lon, double car_lat, double car_head, double lon, double lat) {
+            return DrivingDirectionUtils.getDegreeOfCar2Poi2(car_lon, car_lat, lon, lat, car_head);
+        }
+    }
+
+    private volatile RenderTask mRenderTask;
+
+    public void drawTrajectoryList(List<MessagePad.Location> routeList, double bearing) {
+        if (mogoOverlayManager != null) {
+            if (mRenderTask == null) {
+                mRenderTask = new RenderTask();
+            }
+            mRenderTask.setData(routeList, bearing);
+            if (mRenderHandler != null) {
+                mRenderHandler.removeCallbacks(mRenderTask);
+                mRenderHandler.post(mRenderTask);
+            }
+        }
+    }
+
+    private void setVisible(boolean isVisible) {
+        if (mogoOverlayManager != null) {
+            if (isVisible) {
+                mogoOverlayManager.showAllLinesInLevel(Level.TRAJECTORY_LINE);
+            } else {
+                mogoOverlayManager.hideAllLinesInLevel(Level.TRAJECTORY_LINE);
+            }
+        }
+    }
+}
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt
new file mode 100644
index 0000000000..690c56abd2
--- /dev/null
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/trajectoryoverlay/TrajectoryStrategy.kt
@@ -0,0 +1,170 @@
+package com.mogo.eagle.core.function.business.trajectoryoverlay
+
+import android.animation.ArgbEvaluator
+import android.graphics.Color
+import android.view.animation.AccelerateInterpolator
+import com.mogo.eagle.core.data.config.HmiBuildConfig
+import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_BLUE
+import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_BLUE_DARK
+import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_RED_DARK
+import com.mogo.eagle.core.function.business.trajectoryoverlay.Colors.Companion.COLOR_TRANSPARENT
+import java.util.NavigableMap
+import java.util.TreeMap
+import kotlin.properties.Delegates
+
+
+interface IStrategy {
+    fun getColors(): List<Int>
+}
+
+class Colors {
+
+    companion object {
+        val COLOR_BLUE = Color.parseColor("#FF2ABAD9")
+        val COLOR_BLUE_DARK = Color.parseColor("#FF074EFF")
+        val COLOR_RED_DARK = Color.parseColor("#FF0FF5F0")
+        val COLOR_TRANSPARENT = Color.parseColor("#002ABAD9")
+    }
+}
+
+sealed class Strategy : IStrategy
+
+class DefaultStrategy(private val colors: List<Int>? = null) : Strategy() {
+
+    override fun getColors(): List<Int> = colors ?: listOf(COLOR_BLUE, COLOR_TRANSPARENT)
+}
+
+class ColorfulStrategy(private val colors: List<Int> = emptyList(), var isLightOn: Boolean) :
+    Strategy() {
+    override fun getColors(): List<Int> = colors
+}
+
+object TrajectoryStrategy {
+
+    private var isEnable by Delegates.observable(HmiBuildConfig.isShowRouteStrategy) { _, _, newValue ->
+        if (!newValue) {
+            strategy = null
+            colors.clear()
+        }
+    }
+
+    private var strategy: Strategy? = null
+
+    private val colors: ArrayList<Int> = ArrayList()
+
+    private var index = 0
+
+    private val sorted: NavigableMap<Double, Int> by lazy { TreeMap() }
+
+    private var endEvaluator: ArgbEvaluator? = null
+
+    private var startColor = Int.MAX_VALUE
+
+    private var hasLessThan0 = false
+
+    fun start() {
+        if (sorted.isEmpty()) {
+            fill()
+        }
+        strategy = null
+        index = 0
+        startColor = Int.MAX_VALUE
+        colors.clear()
+        endEvaluator = null
+        hasLessThan0 = false
+    }
+
+    fun end() {
+        if (isEnable) {
+            if (colors.isEmpty()) {
+                return
+            }
+            val first = colors[0]
+            colors.add(0, first)
+            strategy = ColorfulStrategy(colors, true)
+        }
+    }
+
+    fun check(speed: Double, acc: Double, total: Int) {
+        if (!isEnable) {
+            return
+        }
+        if (sorted.isEmpty()) {
+            return
+        }
+        if (acc < 0) {
+            hasLessThan0 = true
+        }
+        val delta = (total * 0.35).toInt()
+        val last = total - delta
+        val entry = sorted.floorEntry(acc)
+        if (entry != null) {
+            if (index >= last - 1) {
+                if (startColor == Int.MAX_VALUE) {
+                    startColor = entry.value
+                    if (endEvaluator == null) {
+                        endEvaluator = ArgbEvaluator()
+                    }
+                    colors += entry.value
+                } else {
+                    if (endEvaluator != null) {
+                        val fraction = (index - last) * 1.0f / delta
+                        colors += endEvaluator!!.evaluate(
+                            fraction,
+                            startColor,
+                            COLOR_TRANSPARENT
+                        ) as Int
+                    }
+                }
+            } else {
+                colors += entry.value
+            }
+        }
+        index++
+    }
+
+    fun remove(acc: Double): List<Int> {
+        if (!isEnable) {
+            return emptyList()
+        }
+        if (sorted.isEmpty()) {
+            throw AssertionError("sorted map must not be null.")
+        }
+        val entry = sorted.floorEntry(acc)
+        if (entry != null) {
+            colors.remove(entry.value)
+        }
+        return ArrayList(colors)
+    }
+
+    private fun fill() {
+        var startValue = -4.0
+        var endValue = 0.0
+        val step = 0.01
+        var current = startValue
+        val evaluator = ArgbEvaluator()
+        val interceptor = AccelerateInterpolator()
+        var total = endValue - startValue
+        while (current <= endValue) {
+            val fraction = interceptor.getInterpolation(((current - startValue) / total).toFloat())
+            val colorValue = evaluator.evaluate(fraction, COLOR_RED_DARK, COLOR_BLUE) as Int
+            sorted[current] = colorValue
+            current += step
+        }
+        startValue = 0.01
+        endValue = 3.0
+        current = startValue
+        total = endValue - startValue
+        while (current <= endValue) {
+            val fraction = (current - startValue) / total
+            val colorValue =
+                evaluator.evaluate(fraction.toFloat(), COLOR_BLUE, COLOR_BLUE_DARK) as Int
+            sorted[current] = colorValue
+            current += step
+        }
+    }
+
+    fun getStrategy(): Strategy = if (isEnable) {
+        (strategy ?: DefaultStrategy())
+    } else DefaultStrategy()
+}
\ No newline at end of file
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
index 4daa8cb771..7fcc66a5f9 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotControlParameters.kt
@@ -113,7 +113,10 @@ class AutopilotControlParameters {
     var startLatLon: AutoPilotLonLat? = null
 
     @JvmField
-    var wayLatLons: List<AutoPilotLonLat>? = null
+    var wayLatLons: List<AutoPilotLonLat>? = null // Routing 给算路引擎使用的经停点列表，不是真正的要停车
+
+    @JvmField
+    var blackLatLons: List<AutoPilotLonLat>? = null // Routing 给算路引擎使用的黑名单点，目的是不参与算路
 
     @JvmField
     var endLatLon: AutoPilotLonLat? = null
@@ -139,6 +142,7 @@ class AutopilotControlParameters {
     @JvmField
     var autoPilotLine: AutoPilotLine? = null // 自动驾驶路线
 
+
     class AutoPilotLine {
         var lineId = 0L
         var lineName = ""
@@ -216,15 +220,20 @@ class AutopilotControlParameters {
     }
 
     override fun toString(): String {
-        return "AutopilotControlParameters{" +
-                "startName='" + startName + '\'' +
-                ", endName='" + endName + '\'' +
-                ", startLatLon=" + startLatLon +
-                ", wayLatLons=" + wayLatLons +
-                ", endLatLon=" + endLatLon +
-                ", speedLimit=" + speedLimit +
-                ", vehicleType=" + vehicleType +
-                ", isSpeakVoice=" + isSpeakVoice +
-                '}'
+        return "AutopilotControlParameters(" +
+                "startName='$startName', " +
+                "endName='$endName', " +
+                "startLatLon=$startLatLon, " +
+                "wayLatLons=$wayLatLons," +
+                "blackLatLons=$blackLatLons," +
+                "endLatLon=$endLatLon," +
+                "speedLimit=$speedLimit, " +
+                "vehicleType=$vehicleType, " +
+                "routeID=$routeID, " +
+                "routeName='$routeName', " +
+                "isSpeakVoice=$isSpeakVoice, " +
+                "autoPilotLine=$autoPilotLine)"
     }
+
+
 }
\ No newline at end of file
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
index b1460e7ea7..d36c741b56 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/constants/MogoServicePaths.java
@@ -103,6 +103,12 @@ public class MogoServicePaths {
     @Keep
     public static final String PATH_VISUAL_ANGLE = "/map/angle_change";
 
+    @Keep
+    public static final String PATH_MAP_GLOBAL_TRAJECTORY = "/map/global_trajectory";
+
+    @Keep
+    public static final String PATH_MAP_ROUTE_GUIDE = "/map/route_guide";
+
     @Keep
     public static final String PATH_PATCH_UPGRADE = "/patch/api";
 
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
index 032f0c139c..0637b9c3ff 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -13,6 +13,7 @@ import com.zhjt.mogo.adas.data.sweeper.task.confirm.SweeperTaskConfirm.TaskConfi
 import com.zhjt.mogo.adas.data.sweeper.task.stop.SweeperTaskStop.StopTaskResp
 import com.zhjt.mogo.adas.data.AdasConstants
 import com.zhjt.mogo.adas.data.sweeper.task.cloud.s_r.SweeperTaskCloudSuspendResume.BigTaskActionResp
+import mogo.telematics.pad.MessagePad
 import mogo.yycp.paralleldriving.protocol.ParallelDrivingRequest
 
 /**
@@ -55,13 +56,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     /**
      * 发送 轨迹下载请求
      */
-    fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine)
+    fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, routeInfo: MessagePad.RouteInfo?)
 
     /**
      * 发送 轨迹下载请求
-     * @param downloadType 下载类型: 0:正常下载 1:预下载
+     *
+     * @param autoPilotLine  线路相关参数详情见PB message_pad.proto -> Line
+     * @param downloadType  下载类型: 0:正常下载 1:预下载
+     * @param routeInfo     20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
      */
-    fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int)
+    fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int,  routeInfo: MessagePad.RouteInfo?)
     /**
      * 结束自动驾驶
      */
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
index e8cba74ab1..b51a0ad17e 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -56,6 +56,14 @@ interface IMoGoAutopilotStatusListener {
      */
     fun onSsmReceiveTimeout(isTimeout: Boolean) {}
 
+    /**
+     * 域控FSM接口接收超时
+     * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口
+     *
+     * @param isTimeout true：FSM接口接收超时  false：FSM接口恢复正常
+     */
+    fun onFsmReceiveTimeout(isTimeout: Boolean) {}
+
     /**
      * 工控机主动查询 AdasManager#sendStatusQueryReq()，后会收到如下回调
      */
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt
new file mode 100644
index 0000000000..3da37890b7
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoFsm2024Listener.kt
@@ -0,0 +1,18 @@
+package com.mogo.eagle.core.function.api.autopilot
+
+import fsm.Fsm2024
+
+/**
+ * 新版FSM状态
+ */
+interface IMoGoFsm2024Listener {
+
+    /**
+     * FSM状态
+     * 目前在启动自驾前置条件检测440版本中使用
+     * @param header   头
+     * @param fsmState 数据
+     */
+    fun onFSM2024State(fsmState: Fsm2024.FSMStateMsg)
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
index 1f3ee351ff..6c6d2f9a3f 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
@@ -316,4 +316,9 @@ interface IDevaToolsProvider : IProvider {
     fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit)
 
     fun unRegisterStartAutopilotStateListener(tag: String)
+
+    /**
+     * 是否开启引导线动效
+     */
+    fun setRouteDynamicColorEnable(enable: Boolean)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/route/IMapRouteProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/route/IMapRouteProvider.kt
new file mode 100644
index 0000000000..da8fb8ece1
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/route/IMapRouteProvider.kt
@@ -0,0 +1,8 @@
+package com.mogo.eagle.core.function.api.map.route
+
+import com.alibaba.android.arouter.facade.template.IProvider
+
+interface IMapRouteProvider: IProvider {
+
+    fun setRouteDynamicColorEnable(enable: Boolean)
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt
new file mode 100644
index 0000000000..10d8610c40
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/trajectory/IMoGoGlobalTrajectoryDrawListener.kt
@@ -0,0 +1,22 @@
+package com.mogo.eagle.core.function.api.map.trajectory
+
+import com.alibaba.android.arouter.facade.template.IProvider
+
+interface IMoGoGlobalTrajectoryDrawListener : IProvider {
+
+    /**
+     * 是否已经在高精地图绘制了全局轨迹
+     */
+    fun hasDrawnGlobalTrajectory(): Boolean
+
+    /**
+     * 在高精地图绘制全局规划
+     * @return boolean-是否绘制成功, string-绘制结果原因
+     */
+    fun drawGlobalTrajectory(): Pair<Boolean, String>
+
+    /**
+     * 清除高精地图中的全局轨迹
+     */
+    fun clearGlobalTrajectory(isClearData: Boolean)
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index 70b69195d4..3cd08a6536 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -4,6 +4,8 @@ import android.os.SystemClock
 import chassis.SpecialVehicleTaskCmdOuterClass
 import com.mogo.commons.voice.AIAssist
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters
+import com.mogo.eagle.core.data.autopilot.toAutoPilotLine
+import com.mogo.eagle.core.data.autopilot.toRouteInfo
 import com.mogo.eagle.core.data.deva.badcase.BagManagerEntity
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.data.constants.MogoServicePaths
@@ -177,12 +179,24 @@ object CallerAutoPilotControlManager {
         }
     }
 
+    /**
+     * 发送 轨迹下载请求
+     */
+    fun sendTrajectoryDownloadReq(autopilotControlParameters: AutopilotControlParameters) {
+        if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+            // Routing 需要传参  routeInfo
+            providerApi?.sendTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, autopilotControlParameters.toRouteInfo())
+            CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autopilotControlParameters.autoPilotLine!!, 0)
+        }
+    }
+
     /**
      * 发送 轨迹下载请求
      */
     fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine) {
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            providerApi?.sendTrajectoryDownloadReq(autoPilotLine)
+            //TODO Routing 需要传参  routeInfo，这里建议业务侧重新整合到同一个数据实体内传入
+            providerApi?.sendTrajectoryDownloadReq(autoPilotLine, null)
             CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, 0)
         }
     }
@@ -193,7 +207,8 @@ object CallerAutoPilotControlManager {
      */
     fun sendTrajectoryDownloadReq(autoPilotLine: AutopilotControlParameters.AutoPilotLine, downloadType: Int) {
         if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
-            providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType)
+            //TODO Routing 需要传参  routeInfo，这里建议业务侧重新整合到同一个数据实体内传入
+            providerApi?.sendTrajectoryDownloadReq(autoPilotLine, downloadType, null)
             CallerAutoPilotStatusListenerManager.invokeTrajectoryDownloadReq(autoPilotLine, downloadType)
         }
     }
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
index 95df93ec34..d2bf8ec4f0 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotStatusListenerManager.kt
@@ -236,6 +236,19 @@ object CallerAutoPilotStatusListenerManager : CallerBase<IMoGoAutopilotStatusLis
         }
     }
 
+    /**
+     * 域控FSM接口接收超时
+     * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口
+     *
+     * @param isTimeout true：FSM接口接收超时  false：FSM接口恢复正常
+     */
+    fun invokeFsmReceiveTimeout(isTimeout: Boolean) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onFsmReceiveTimeout(isTimeout)
+        }
+    }
+
     /**
      * 主动调查询接口：AdasManager#sendStatusQueryReq(), 会收到以下回调
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFsm2024ListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFsm2024ListenerManager.kt
new file mode 100644
index 0000000000..c168ca76bd
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerFsm2024ListenerManager.kt
@@ -0,0 +1,24 @@
+package com.mogo.eagle.core.function.call.autopilot
+
+import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import fsm.Fsm2024
+import mogo.telematics.pad.MessagePad
+
+/**
+ * 新版FSM状态
+ */
+object CallerFsm2024ListenerManager : CallerBase<IMoGoFsm2024Listener>() {
+
+    /**
+     *  绿波通行（单路口）事件推送, 透传
+     */
+    fun invokeFSM2024State(fsmState: Fsm2024.FSMStateMsg) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onFSM2024State(fsmState)
+        }
+    }
+
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
index 424674c88e..483d032529 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -396,4 +396,8 @@ object CallerDevaToolsManager {
     fun unRegisterStartAutopilotStateListener(tag: String) {
         devaToolsProviderApi?.unRegisterStartAutopilotStateListener(tag)
     }
+
+    fun setRouteDynamicColorEnable(enable: Boolean) {
+        devaToolsProviderApi?.setRouteDynamicColorEnable(enable)
+    }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt
new file mode 100644
index 0000000000..682d018d8d
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapGlobalTrajectoryDrawManager.kt
@@ -0,0 +1,44 @@
+package com.mogo.eagle.core.function.call.map
+
+import com.alibaba.android.arouter.launcher.ARouter
+import com.mogo.eagle.core.data.constants.MogoServicePaths
+import com.mogo.eagle.core.function.api.map.trajectory.IMoGoGlobalTrajectoryDrawListener
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+
+
+object CallerMapGlobalTrajectoryDrawManager {
+
+    private val provider by lazy {
+        ARouter.getInstance().build(MogoServicePaths.PATH_MAP_GLOBAL_TRAJECTORY)
+            .navigation() as? IMoGoGlobalTrajectoryDrawListener
+    }
+
+    fun init() {
+        provider?.let {
+            CallerLogger.i("CallerMapGlobalTrajectoryDrawManager", "--- init ---")
+        }
+    }
+
+    /**
+     * 是否已经在高精地图绘制了全局轨迹
+     */
+    fun hasDrawnGlobalTrajectory(): Boolean {
+        return provider?.hasDrawnGlobalTrajectory() ?: false
+    }
+
+    /**
+     * 在高精地图绘制全局轨迹
+     * @return boolean-是否绘制成功, string-未绘制原因
+     */
+    fun drawGlobalTrajectory(): Pair<Boolean, String> {
+        return provider?.drawGlobalTrajectory() ?: Pair(false, "provider=null")
+    }
+
+    /**
+     * 清除高精地图中的全局轨迹
+     */
+    fun clearGlobalTrajectory(isClearData: Boolean) {
+        provider?.clearGlobalTrajectory(isClearData)
+    }
+
+}
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 72998af9dc..20605c6e35 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -149,7 +149,7 @@ MATRIX_VERSION=2.0.8
 
 
 # 公交模式司机端版本号
-DRIVER_VERSION=6.4.4
+DRIVER_VERSION=6.4.6
 # 公交模式乘客端端版本号
-PASSENGER_VERSION=5.4.4
+PASSENGER_VERSION=5.4.6
 
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 55e1a2591e..27fa064374 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 #Fri Sep 22 11:53:55 CST 2023
 distributionBase=GRADLE_USER_HOME
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.1.1-all.zip
+distributionUrl=https\://mirrors.tencent.com/gradle/gradle-6.1.1-all.zip
 distributionPath=wrapper/dists
 zipStorePath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
index f51b9037b6..90bda6b466 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/common/MessageType.java
@@ -30,6 +30,7 @@ public enum MessageType {
     TYPE_RECEIVE_M1_STITCHED_VIDEO(MessagePad.MessageType.MsgTypeM1StitchedVideo, "M1拼接视频"),
     TYPE_RECEIVE_SSM(MessagePad.MessageType.MsgTypeSSMState, "SSM系统状态"),
     TYPE_RECEIVE_FM_STATE(MessagePad.MessageType.MsgTypeFMState, "FM状态"),
+    TYPE_RECEIVE_FSM2024_STATE(MessagePad.MessageType.MsgTypeFSM2024State, "FSM状态"),
 
     TYPE_RECEIVE_BASIC_INFO_REQ(MessagePad.MessageType.MsgTypeBasicInfoReq, "自动驾驶设备基础信息请求"),
     TYPE_SEND_BASIC_INFO_RESP(MessagePad.MessageType.MsgTypeBasicInfoResp, "自动驾驶设备基础信息应答"),
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
index e906c4f36b..5cb6b0df08 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/LaunchConditionData.java
@@ -11,6 +11,7 @@ import org.json.JSONObject;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
+import fsm.Fsm2024;
 import function_state_management.FSMStatusReasonQueryOuterClass;
 import system_master.SsmInfo;
 import system_master.SystemStatusInfo;
@@ -45,14 +46,19 @@ public class LaunchConditionData {
      */
     public final SsmInfo.SsmStatusInf ssmInfo;
     public final FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//FSM数据
+    public final Fsm2024.FSMStateMsg fsmState;//FSM数据
 
     public final long createTime;
 
+    public LaunchConditionData(String abilityVersion, Fsm2024.FSMStateMsg fsmState) {
+        this(abilityVersion, null, Float.MAX_VALUE, null, null, null, null, fsmState);
+    }
+
     public LaunchConditionData(String abilityVersion,
                                SystemStatusInfo.StatusInfo statusInfo,
                                SsmInfo.SsmStatusInf ssmInfo,
                                FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
-        this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond);
+        this(abilityVersion, null, Float.MAX_VALUE, null, statusInfo, ssmInfo, fsmStatusReasonRespond, null);
     }
 
     public LaunchConditionData(String abilityVersion,
@@ -62,6 +68,17 @@ public class LaunchConditionData {
                                SystemStatusInfo.StatusInfo statusInfo,
                                SsmInfo.SsmStatusInf ssmInfo,
                                FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
+        this(abilityVersion, chassisStates, oldSteering, light, statusInfo, ssmInfo, fsmStatusReasonRespond, null);
+    }
+
+    public LaunchConditionData(String abilityVersion,
+                               ChassisStatesOuterClass.ChassisStates chassisStates,
+                               float oldSteering,
+                               Chassis.LightSwitch light,
+                               SystemStatusInfo.StatusInfo statusInfo,
+                               SsmInfo.SsmStatusInf ssmInfo,
+                               FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond,
+                               Fsm2024.FSMStateMsg fsmState) {
         this.abilityVersion = abilityVersion;
         this.chassisStates = chassisStates;
         this.oldSteering = oldSteering;
@@ -69,6 +86,7 @@ public class LaunchConditionData {
         this.statusInfo = statusInfo;
         this.ssmInfo = ssmInfo;
         this.fsmStatusReasonRespond = fsmStatusReasonRespond;
+        this.fsmState = fsmState;
         createTime = System.currentTimeMillis();
     }
 
@@ -78,9 +96,10 @@ public class LaunchConditionData {
             jsonObject.put("ability_version", abilityVersion);
             jsonObject.put("create_object_time", createTime);
             JSONArray array = new JSONArray();
-            JSONObject chassisStatesObject = new JSONObject();
-            chassisStatesObject.put("name", "ChassisStates");
+            JSONObject chassisStatesObject = null;
             if (chassisStates != null) {
+                chassisStatesObject = new JSONObject();
+                chassisStatesObject.put("name", "ChassisStates");
                 if (chassisStates.hasHeader()) {
                     chassisStatesObject.put("data_header", TextFormat.printer().escapingNonAscii(false).printToString(chassisStates.getHeader()));
                 }
@@ -120,18 +139,27 @@ public class LaunchConditionData {
             }
             //车灯
             if (light != null) {
+                if (chassisStatesObject == null) {
+                    chassisStatesObject = new JSONObject();
+                    chassisStatesObject.put("name", "ChassisStates");
+                }
                 chassisStatesObject.put("light", light.name());
             }
-            array.put(chassisStatesObject);
+            if (chassisStatesObject != null) {
+                array.put(chassisStatesObject);
+            }
             if (statusInfo != null) {
-                arrayPut(array, statusInfo.getClass().getName(), statusInfo.getAutoPilotReady(), statusInfo.getAutoPilotUnreadyReason());
+                arrayPut(array, statusInfo);
             }
             if (ssmInfo != null) {
-                arrayPut(array, ssmInfo.getClass().getName(), ssmInfo.getAutoPilotReady(), ssmInfo.getAutoPilotUnreadyReason());
+                arrayPut(array, ssmInfo);
             }
             if (fsmStatusReasonRespond != null) {
                 arrayPut(array, fsmStatusReasonRespond);
             }
+            if (fsmState != null) {
+                arrayPut(array, fsmState);
+            }
             if (array.length() > 0) {
                 jsonObject.put("data", array);
             }
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java
index 7ce0bae69e..91e01db97e 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/MogoReport.java
@@ -7,7 +7,8 @@ import java.util.Map;
 
 /**
  * 监控事件报告中定义的事件以及解释
- * 根据MAP4.2.0事件定义编写 最后修改于2024-04-07
+ * 根据诊断事件定义表 第143版 编写 最后修改于2024-06-13
+ * 由于 MAP420及以后版本 诊断事件定义表 中不会标记 新增版本以及弃用版本，所以将不再使用 @ReportState进行版本注解
  */
 public class MogoReport {
     public interface Result {
@@ -341,6 +342,8 @@ public class MogoReport {
                 @ReportState("4.2.0")
                 String HOST_MEMORY_EXCEED = "EMAP_HOST_MEMORY_EXCEED";//系统内存占用过高
 
+                String ENTRY_AUTOPILOT_FOR_GEAR_NOT_READY = "EMAP_ENTRY_AUTOPILOT_FOR_GEAR_NOT_READY";//档位不正确未进自驾
+
             }
 
             /**
@@ -583,6 +586,14 @@ public class MogoReport {
                 @ReportState("4.1.0")
                 String RADAR_CHECK_FAILED = "ECLB_RADAR_CHECK_FAILED";//radar标定自检算法失败，无法判定外参是否正常，建议重试
             }
+
+            /**
+             * EFSM(功能状态管理)
+             */
+            interface EFSM {
+                @ReportState("4.4.0")
+                String ENTRY_AUTOPILOT = "EFSM_ENTRY_AUTOPILOT";//FSM因为某些原因未进自驾
+            }
         }
 
         /**
@@ -973,6 +984,8 @@ public class MogoReport {
                 String REMOTE_PILOT_STATE_CHANGED = "IFSM_REMOTE_PILOT_STATE_CHANGED";//平行驾驶状态机变化
                 @ReportState("3.5.0")
                 String TELECTRL_PILOT_STATE_CHANGED = "IFSM_TELECTRL_PILOT_STATE_CHANGED";//遥感驾驶状态机变化
+                @ReportState("4.4.0")
+                String RECEIVE_AP_REQUEST = "IFSM_RECEIVE_AP_REQUEST";//FSM收到自驾或平行驾驶或手动驾驶请求信号
             }
 
             /**
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
index e0b11d41ed..f966ea314e 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
@@ -14,6 +14,7 @@ public class UnableLaunchReason {
         CHASSIS,//底盤
         SSM,
         FSM,
+        FSM2024,
     }
 
     /**
@@ -31,7 +32,9 @@ public class UnableLaunchReason {
         CHASSIS_HAZARD_LIGHTS,//危险报警灯
         SSM_OFFER,//SSM提供的原因
         FSM_OFFER,//FSM提供的原因
-        SSM_TIMEOUT//SSM超时
+        FSM2024_OFFER,//FSM2024提供的原因
+        SSM_TIMEOUT,//SSM超时
+        FSM2024_TIMEOUT//FSM2024超时
     }
 
     /**
diff --git a/libraries/mogo-adas-data/src/main/proto/fsm2024.proto b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto
new file mode 100644
index 0000000000..ec22d1cc38
--- /dev/null
+++ b/libraries/mogo-adas-data/src/main/proto/fsm2024.proto
@@ -0,0 +1,53 @@
+syntax = "proto2";
+package fsm;
+  
+import "header.proto";
+  
+enum State {
+    OFF = 0;
+    STANDBY = 1; //Standby 未来会弃用, 并入OFF
+    ACTIVATING = 2;
+    PILOT_DRIVING_ACTIVE = 3; //未来会被弃用，所有激活状态统一在Active状态下作为子状态管理
+    PARALLEL_DRIVING_ACTIVE = 4; //未来会被弃用，所有激活状态统一在Active状态下作为子状态管理
+    SAFETY_STOP = 5;
+    ACTIVE = 6;
+}
+
+enum SafetyStopMode {
+    NOT_NEEDED = 0;
+    PLANNER_STOP = 1;
+    CONTROLLER_COMFORT_STOP = 2;
+    CONTROLLER_EMERGENCY_STOP = 3;
+}
+  
+enum ActiveMode {
+    NOT_ACTIVE= 0;
+    PILOT_ACTIVE= 1;
+    PARALLEL_ACTIVE= 2;
+    SIMULATOR_ACTIVE= 3; //模拟器驾驶， M1上专用
+}
+  
+message FSMStateMsg {
+    required common.Header header = 1;
+    required State function_state = 2;
+    required SafetyStopMode fsm_safety_stop_mode = 4;  //FSM如果进入safety stop，是planning 进行停车，还是control进行舒适停车，还是control进行紧急停车
+      
+    required ActiveMode  active_mode = 6;
+
+    required bool new_msg_flag = 10;
+
+    required bool pilot_standby_flag = 11;
+    required bool parallel_standby_flag = 12;  
+    required bool simulator_standby_flag = 13; 
+
+    optional string pilot_not_standby_reason= 21;   //FSM 无法自驾无法就绪的原因。
+    optional string parallel_not_standby_reason= 22;   //FSM 无法平行即使就绪原因
+    optional string simulator_not_standby_reason= 23;   //FSM 无法模拟器驾驶原因
+
+    optional uint64 fail_to_pilot_session_id= 36;  
+    optional uint64 fail_to_parallel_session_id= 37;  
+    optional uint64 fail_to_simulator_session_id= 38;  
+
+    optional string abnormal_state_trans_reason= 41;   //FSM 异常退出ACTIVATING/自驾/平行驾驶/模拟器驾驶原因 （包括接管）
+  
+}
\ No newline at end of file
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index 54a15f6401..f19766f18f 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -35,6 +35,7 @@ enum MessageType
     MsgTypeM1StitchedVideo = 0x1000e; //m1拼接视频 定频10hz
     MsgTypeSSMState = 0x1000f; //ssm 系统状态 定频1hz  hq m1 MAP350开始支持，其他车型MAP360开始支持
     MsgTypeFMState = 0x10010; //FM状态 定频1hz bus和清扫车是MAP370开始支持，其他车型MAP360开始支持
+    MsgTypeFSM2024State = 0x10011; //20240531 FSM状态 定频10hz （telematics做状态变化判断，无变化10hz上报，有变化立即上报） BUS MAP440开始支持，其他车型暂未支持
 
     //### 以下消息全部不定频 ###
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
@@ -272,6 +273,8 @@ message TrajectoryDownloadReq
     Line line = 1; //路线
     uint32 source = 2; //指令来源: 0: default, 1:pad, 2:aicloud
     uint32 downloadType = 3; //下载类型: 0:正常下载 1:预下载
+
+    RouteInfo routeInfo = 4; //20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！（Line信息重复）
 }
 
 // message definition for MessageType: MsgTypeBasicInfoReq
@@ -297,6 +300,8 @@ message Location
     double latitude = 2;
     double altitude = 3;
     double heading = 4;
+
+    bool station = 5;  //20240523， 判断此点是中间站点还是途径点 ------- true：站点， false：简单的途径点
 }
 
 message RouteInfo
@@ -311,7 +316,10 @@ message RouteInfo
     bool isSpeakVoice = 8; //abandoned
     uint32 routeID = 9;
     string routeName = 10;
-    Line line = 11; //路线信息
+    Line line = 11; //路线信息，原有轨迹线路信息
+
+    repeated Location blackPoints = 12; //20240523  不让走的道路，异常线路点
+    bool isStation = 13; //20240523  用于表示判断是否是站点下单。默认false：起点下单，接管下单； true: 中间站点下单
 }
 
 message SetAutopilotModeReq
@@ -319,6 +327,7 @@ message SetAutopilotModeReq
     uint32 mode = 1; //1: enter autopilot mode, 0: quit autopilot mode
     uint32 source = 2; //命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
     RouteInfo routeInfo = 3; //自动驾驶路径信息
+
 }
 
 // message definition for MsgTypeSetDemoModeReq
@@ -747,3 +756,6 @@ message SessionInfo
 
 //message definition for MsgTypeFMState
 //refer to fm_info.proto for details
+
+//message definition for MsgTypeFSM2024State
+//refer to fsm2024.proto
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 6460ecf0bf..b57759ce9a 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -1189,9 +1189,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 设置自动驾驶模式 启动自动驾驶
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
-     * @param routeInfo 自动驾驶路径信息
+     * @param mode          1: enter autopilot mode, 0: quit autopilot mode
+     * @param source        命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
+     * @param routeInfo     自动驾驶路径信息
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
@@ -1655,8 +1655,9 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
      * 发送 轨迹下载请求
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param line         线路相关参数详情见PB message_pad.proto -> Line
-     * @param downloadType 下载类型: 0:正常下载 1:预下载
+     * @param line          线路相关参数详情见PB message_pad.proto -> Line
+     * @param downloadType  下载类型: 0:正常下载 1:预下载
+     * @param routeInfo     20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
@@ -1669,13 +1670,18 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
             paramIndexes = {0}
     )
     @Override
-    public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
+    public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType, MessagePad.RouteInfo routeInfo) {
         MessagePad.TrajectoryDownloadReq.Builder builder = MessagePad.TrajectoryDownloadReq.newBuilder();
         builder.setSource(1);//指令来源: 0: default, 1:pad, 2:aicloud
-        builder.setLine(line);
+        if (line != null) {
+            builder.setLine(line);
+        }
         if (downloadType > -1) {
             builder.setDownloadType(downloadType);
         }
+        if (routeInfo != null) {
+            builder.setRouteInfo(routeInfo);
+        }
         MessagePad.TrajectoryDownloadReq req = builder.build();
         return sendPBMessage(MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ, req.toByteArray());
     }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
index f29f121e3c..8ac84e549d 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -393,9 +393,9 @@ public class AdasManager implements IAdasNetCommApi {
      * 设置自动驾驶模式 启动自动驾驶
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
-     * @param routeInfo 自动驾驶路径信息
+     * @param mode          1: enter autopilot mode, 0: quit autopilot mode
+     * @param source        命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
+     * @param routeInfo     自动驾驶路径信息
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
@@ -758,30 +758,32 @@ public class AdasManager implements IAdasNetCommApi {
      * 发送 轨迹下载请求
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param line 线路相关参数详情见PB message_pad.proto -> Line
+     * @param line          线路相关参数详情见PB message_pad.proto -> Line
+     * @param routeInfo     20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
      * *       -1L：添加到WS发送消息队列失败
      */
-    public long sendTrajectoryDownloadReq(MessagePad.Line line) {
-        return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1);
+    public long sendTrajectoryDownloadReq(MessagePad.Line line,  MessagePad.RouteInfo routeInfo) {
+        return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, -1,  routeInfo);
     }
 
     /**
      * 发送 轨迹下载请求
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param line         线路相关参数详情见PB message_pad.proto -> Line
-     * @param downloadType 下载类型: 0:正常下载 1:预下载
+     * @param line          线路相关参数详情见PB message_pad.proto -> Line
+     * @param downloadType  下载类型: 0:正常下载 1:预下载
+     * @param routeInfo     20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
      * *       -1L：添加到WS发送消息队列失败
      */
     @Override
-    public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType) {
-        return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType);
+    public long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType,  MessagePad.RouteInfo routeInfo) {
+        return mChannel == null ? -1L : mChannel.sendTrajectoryDownloadReq(line, downloadType, routeInfo);
     }
 
     /**
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
index 5ba39f8bf5..ed05195d5c 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -173,9 +173,9 @@ public interface IAdasNetCommApi {
      * 设置自动驾驶模式 启动自动驾驶
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param mode      1: enter autopilot mode, 0: quit autopilot mode
-     * @param source    命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
-     * @param routeInfo 自动驾驶路径信息
+     * @param mode          1: enter autopilot mode, 0: quit autopilot mode
+     * @param source        命令来源: 0: pad模拟, 1: pad业务, 2:aicloud, 3:魔方(清扫车MAP Version==332以及MAP Version>=350，其他车型目前未上线)
+     * @param routeInfo     自动驾驶路径信息
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
@@ -475,14 +475,15 @@ public interface IAdasNetCommApi {
      * 发送 轨迹下载请求
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
      *
-     * @param line         线路相关参数详情见PB message_pad.proto -> Line
-     * @param downloadType 下载类型: 0:正常下载 1:预下载
+     * @param line          线路相关参数详情见PB message_pad.proto -> Line
+     * @param downloadType  下载类型: 0:正常下载 1:预下载
+     * @param routeInfo     20240523 进行自动算路，务必下单时候携带自动驾驶路径信息，否则可不填！
      * @return 消息是否添加到WS消息发送队列，返回值为非0的正整数时表示下发消息的消息ID
      * *       >=0：表示添加到WS发送消息队列
      * *       =0：表示乘客屏模式添加到WS发送消息队列
      * *       -1L：添加到WS发送消息队列失败
      */
-    long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType);
+    long sendTrajectoryDownloadReq(MessagePad.Line line, int downloadType,  MessagePad.RouteInfo routeInfo);
 
     /**
      * 发送 状态查询请求
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
index 90afedde94..0503a47d30 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/OnAdasListener.java
@@ -30,6 +30,7 @@ import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
 import chassis.VehicleStateOuterClass;
 import fault_management.FmInfo;
+import fsm.Fsm2024;
 import function_state_management.FunctionStates;
 import mogo.telematics.pad.MessagePad;
 import mogo.v2x.MogoV2X;
@@ -237,6 +238,14 @@ public interface OnAdasListener {
      */
     void onFaultManagementState(MessagePad.Header header, @NonNull FmInfo.FaultResultMsg fmInfo);
 
+    /**
+     * FSM状态
+     *
+     * @param header   头
+     * @param fsmState 数据
+     */
+    void onFSM2024State(@NonNull MessagePad.Header header, @NonNull Fsm2024.FSMStateMsg fsmState);
+
     /**
      * 数据采集配置应答
      *
@@ -488,6 +497,14 @@ public interface OnAdasListener {
      */
     void onSsmReceiveTimeout(boolean isTimeout);
 
+    /**
+     * 域控FSM接口接收超时
+     * 状态变动时才会回调，默认FSM状态正常 前提是存在FSM接口
+     *
+     * @param isTimeout true：FSM接口接收超时  false：FSM接口恢复正常
+     */
+    void onFsm2024ReceiveTimeout(boolean isTimeout);
+
     /**
      * 是否有能力启动自动驾驶
      *
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java
new file mode 100644
index 0000000000..b3de145659
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility440.java
@@ -0,0 +1,62 @@
+package com.zhidao.support.adas.high.common.autopilot.ability;
+
+import androidx.annotation.NonNull;
+
+import com.zhjt.mogo.adas.data.bean.LaunchConditionData;
+import com.zhjt.mogo.adas.data.bean.UnableLaunchReason;
+
+import java.util.ArrayList;
+
+import fsm.Fsm2024;
+
+/**
+ * 是否可以启动自动驾驶能力检测   工控机版本>=4400&&(isJinlv||isJinlvM1||isJinlvM) 使用此类
+ * 目前监控了FSM2024状态
+ */
+public class AutopilotAbility440 {
+    private final String TAG = this.getClass().getSimpleName();
+
+    @NonNull
+    private final AutopilotAbilityManager manager;
+    private OnAutopilotAbilityListener listener;
+
+
+    public AutopilotAbility440(@NonNull AutopilotAbilityManager manager) {
+        this.manager = manager;
+    }
+
+
+    public void setFSMState(Fsm2024.FSMStateMsg fsmState) {
+        onCallbackFsm(fsmState);
+    }
+
+    protected void onCallFsmTimeout() {
+        onCallbackFsm(null);
+    }
+
+    protected void onCallbackFsm(Fsm2024.FSMStateMsg fsmState) {
+        ArrayList<UnableLaunchReason> unableAutopilotReasons = null;//不能启动自动驾驶原因
+        if (fsmState == null) {
+            unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM2024_TIMEOUT, "FSM超时无响应");
+        } else {
+            if (!fsmState.getPilotStandbyFlag()) {
+                unableAutopilotReasons = manager.addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM2024, UnableLaunchReason.UnableType.FSM2024_OFFER, fsmState.getPilotNotStandbyReason());
+            }
+        }
+        if (listener != null) {
+            boolean isAutopilotAbility = unableAutopilotReasons == null || unableAutopilotReasons.isEmpty();//是否能启动自动驾驶
+            listener.onAutopilotAbility(isAutopilotAbility, new LaunchConditionData(this.getClass().getSimpleName(), fsmState), unableAutopilotReasons);
+        }
+    }
+
+
+    public synchronized void start(OnAutopilotAbilityListener listener) {
+        this.listener = listener;
+
+    }
+
+    public synchronized void stop() {
+        this.listener = null;
+    }
+
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
index cf32f031a1..8cf5651d40 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
@@ -18,6 +18,7 @@ import java.util.concurrent.atomic.AtomicBoolean;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
+import fsm.Fsm2024;
 import function_state_management.FSMStatusReasonQueryOuterClass;
 import mogo.telematics.pad.MessagePad;
 import system_master.SsmInfo;
@@ -32,7 +33,7 @@ import system_master.SystemStatusInfo;
  */
 public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
     private static final String TAG = AutopilotAbilityManager.class.getSimpleName();
-    protected static final long DEFAULT_SSM_TIMEOUT = 5000L;//SSM超时时间
+    protected static final long DEFAULT_TIMEOUT = 5000L;//SSM和FSM超时时间
     protected static final long DEFAULT_DETECTION_TIME = 3 * 1000L;//默认检测周期
     protected static final String[] NODE_INFO_STATE = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "人为启动状态", "人为关闭状态"};
     protected static final String[] NODE_INFO_STATE_FIXED_FREQUENCY = {"未知状态", "依赖未就绪", "启动中", "运行", "停止", "无法启动状态", "非自动启动状态", "非自动关闭状态"};
@@ -41,24 +42,29 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
     private OnAdasListener listener;
     private int mapVersion = -1;//工控机版本
     private boolean isFutianSweeper = false;//是否是福田清扫车
+    private boolean isJinlv = false;//是否是小巴
     private boolean isJinlvM1 = false;//是否是M1
+    private boolean isJinlvM2 = false;//是否是M2
     private boolean isHQ = false;//是否是HQ
     private AutopilotAbility230 autopilotAbility230;
     private AutopilotAbility250 autopilotAbility250;
     private AutopilotAbility330 autopilotAbility330;
     private AutopilotAbility350And360 autopilotAbility350And360;
     private AutopilotAbility360 autopilotAbility360;
+    private AutopilotAbility440 autopilotAbility440;
     private Timer startTimer;
-    private Timer ssmTimeoutTimer;//SSM超时计时器
+    private Timer timeoutTimer;//SSM和FSM超时计时器
     private long ssmReceiveTime;//SSM接收时间
+    private long fsmReceiveTime;//FSM接收时间
 
     private final AtomicBoolean isOldSsmTimeout = new AtomicBoolean(false);//SSM是否超时 老状态
+    private final AtomicBoolean isOldFsmTimeout = new AtomicBoolean(false);//FSM是否超时 老状态
     private final AtomicBoolean isInitCarConfig = new AtomicBoolean(false);//车辆信息是否初始化
     /**
      * 能启动自动驾驶的档位
      */
     private Set<Chassis.GearPosition> launchAutopilotGear;
-
+    private boolean isSupportFSM2024 = false;
 
     private AutopilotAbilityManager() {
     }
@@ -109,7 +115,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
                 isInitCarConfig.set(true);
                 mapVersion = version;
                 isFutianSweeper = carConfig.getIsFutianSweeper();
+                isJinlv = carConfig.getIsJinlv();
                 isJinlvM1 = carConfig.getIsJinlvM1();
+                isJinlvM2 = carConfig.getIsJinlvM2();
                 isHQ = carConfig.getIsHQ();
                 initAutopilotAbility();
                 if (autopilotAbility230 != null) {
@@ -165,6 +173,14 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         }
     }
 
+    public void setFSM2024State(Fsm2024.FSMStateMsg fsmState) {
+        fsmReceiveTime = System.currentTimeMillis();
+        onCallFSMTimeout(false);
+        if (autopilotAbility440 != null) {
+            autopilotAbility440.setFSMState(fsmState);
+        }
+    }
+
     /**
      * 底盘状态更新
      *
@@ -197,13 +213,20 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
 
     private void initAutopilotAbility() {
         stopAllTimer();
-        if (mapVersion >= 30600 && isFutianSweeper) {
+        isSupportFSM2024 = false;
+        if (mapVersion >= 40400 && (isJinlv || isJinlvM1 || isJinlvM2)) {
+            isSupportFSM2024 = true;
+            CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：440");
+            if (autopilotAbility440 == null) {
+                autopilotAbility440 = new AutopilotAbility440(this);
+                autopilotAbility440.start(this);
+            }
+        } else if (mapVersion >= 30600 && isFutianSweeper) {
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：360清扫车专用");
             if (autopilotAbility360 == null) {
                 autopilotAbility360 = new AutopilotAbility360(this);
                 autopilotAbility360.start(this);
             }
-
         } else if ((mapVersion >= 30500 && (isJinlvM1 || isHQ)) || mapVersion >= 30600) {
             CupidLogUtils.log(TAG, "能否启动自驾能力检测使用版本：350和360共用");
             if (autopilotAbility350And360 == null) {
@@ -231,7 +254,7 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
             }
         }
         if (autopilotAbility230 == null) {
-            startSsmTimeoutTimer();//MAP230及以下没有SSM所以不需要超时
+            startTimeoutTimer();//MAP230及以下没有SSM和FSM所以不需要超时
         }
     }
 
@@ -270,6 +293,13 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         }
     }
 
+    private void stop440() {
+        if (autopilotAbility440 != null) {
+            autopilotAbility440.stop();
+            autopilotAbility440 = null;
+        }
+    }
+
     private void stopTimer() {
         if (startTimer != null) {
             startTimer.cancel();
@@ -298,12 +328,14 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
     }
 
 
-    private void stopSsmTimeoutTimer() {
-        if (ssmTimeoutTimer != null) {
+    private void stopTimeoutTimer() {
+        if (timeoutTimer != null) {
             isOldSsmTimeout.set(false);
+            isOldFsmTimeout.set(false);
             ssmReceiveTime = 0;
-            ssmTimeoutTimer.cancel();
-            ssmTimeoutTimer = null;
+            fsmReceiveTime = 0;
+            timeoutTimer.cancel();
+            timeoutTimer = null;
         }
     }
 
@@ -311,15 +343,17 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
      * 连接工控机成功调用此函数，如果dockerVersion还未获取到将启动最低版本的启动自动驾驶能力检测
      * 此函数为保险措施 以防无法获取工控机版本时 也能 正常执行逻辑
      */
-    public synchronized void startSsmTimeoutTimer() {
-        if (ssmTimeoutTimer == null) {
+    public synchronized void startTimeoutTimer() {
+        if (timeoutTimer == null) {
             ssmReceiveTime = System.currentTimeMillis();
-            ssmTimeoutTimer = new Timer();
-            ssmTimeoutTimer.schedule(new TimerTask() {
+            fsmReceiveTime = System.currentTimeMillis();
+            timeoutTimer = new Timer();
+            timeoutTimer.schedule(new TimerTask() {
                 @Override
                 public void run() {
+                    //SSM超时检测
                     long timeDifference = System.currentTimeMillis() - ssmReceiveTime;
-                    if (timeDifference >= DEFAULT_SSM_TIMEOUT) {
+                    if (timeDifference >= DEFAULT_TIMEOUT) {
                         onCallSSMTimeout(true);
                         //超时
                         if (autopilotAbility250 != null) {
@@ -335,8 +369,18 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
                             autopilotAbility360.onCallTimeout();
                         }
                     }
+                    //FSM超时检测
+                    if (isSupportFSM2024) {
+                        timeDifference = System.currentTimeMillis() - fsmReceiveTime;
+                        if (timeDifference >= DEFAULT_TIMEOUT) {
+                            onCallFSMTimeout(true);
+                            if (autopilotAbility440 != null) {
+                                autopilotAbility440.onCallFsmTimeout();
+                            }
+                        }
+                    }
                 }
-            }, 1000L, DEFAULT_SSM_TIMEOUT);
+            }, 1000L, DEFAULT_TIMEOUT);
         }
     }
 
@@ -347,14 +391,22 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         }
     }
 
+    private synchronized void onCallFSMTimeout(boolean isTimeout) {
+        if (isTimeout != isOldFsmTimeout.get()) {
+            isOldFsmTimeout.set(isTimeout);
+            listener.onFsm2024ReceiveTimeout(isTimeout);
+        }
+    }
+
     private void stopAllTimer() {
-        stopSsmTimeoutTimer();
+        stopTimeoutTimer();
         stopTimer();
         stop230();
         stop250();
         stop330();
         stop350And360();
         stop360();
+        stop440();
     }
 
     public synchronized void stop() {
@@ -363,7 +415,10 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         mapVersion = -1;
         isFutianSweeper = false;
         isHQ = false;
+        isJinlv = false;
         isJinlvM1 = false;
+        isJinlvM2 = false;
+        isSupportFSM2024 = false;
     }
 
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java
new file mode 100644
index 0000000000..82821b0bfb
--- /dev/null
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/FSM2024StateMessage.java
@@ -0,0 +1,33 @@
+package com.zhidao.support.adas.high.msg;
+
+import android.os.SystemClock;
+
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.zhidao.support.adas.high.AdasChannel;
+import com.zhidao.support.adas.high.OnAdasListener;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
+import com.zhidao.support.adas.high.common.autopilot.ability.AutopilotAbilityManager;
+import com.zhidao.support.adas.high.protocol.RawData;
+
+import fsm.Fsm2024;
+
+/**
+ * FSM状态
+ */
+public class FSM2024StateMessage extends MyAbstractMessageHandler {
+
+    @Override
+    public void handlerMsg(RawData raw, OnAdasListener adasListener) throws InvalidProtocolBufferException {
+        Fsm2024.FSMStateMsg fsmState = Fsm2024.FSMStateMsg.parser().parseFrom(raw.originalData.toByteArray(), raw.getOffsetValue(), raw.getPackageLengthValue() - raw.getOffsetValue());
+        AdasChannel.calculateTimeConsumingOnDispatchRaw("FSM状态", raw.receiveTime);
+        AutopilotAbilityManager.getInstance().setFSM2024State(fsmState);
+        long nowTime = 0;
+        if (CupidLogUtils.isEnableLog())
+            nowTime = SystemClock.elapsedRealtime();
+        if (adasListener != null) {
+            adasListener.onFSM2024State(raw.getHeader(), fsmState);
+        }
+        AdasChannel.calculateTimeConsumingBusiness("FSM状态", nowTime);
+    }
+
+}
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
index cf77bff8e7..b32de8d39d 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/MyMessageFactory.java
@@ -32,6 +32,7 @@ public class MyMessageFactory implements IMyMessageFactory {
     private IMsg statusQueryRespMessage;//状态查询应答
     private IMsg systemStatusMessage;//定频SSM
     private IMsg faultManagementMessage;//FM状态
+    private IMsg fSM2024StateMessage;//FSM状态
     private IMsg recordDataConfigRespMessage;//数据采集配置应答
     private IMsg planningDecisionStateMessage;//planning决策状态
     private IMsg obuWarningDataMessage;//工控机透传OBU V2I数据
@@ -176,6 +177,12 @@ public class MyMessageFactory implements IMyMessageFactory {
                 faultManagementMessage = new FaultManagementMessage();
             }
             return faultManagementMessage;
+        } else if (messageType == MessageType.TYPE_RECEIVE_FSM2024_STATE.typeCode) {
+            //FSM状态
+            if (fSM2024StateMessage == null) {
+                fSM2024StateMessage = new FSM2024StateMessage();
+            }
+            return fSM2024StateMessage;
         } else if (messageType == MessageType.TYPE_RECEIVE_RECORD_DATA_CONFIG_RESP.typeCode) {
             //数据采集配置应答
             if (recordDataConfigRespMessage == null) {
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
index 4c62c50bb4..614c0854a6 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/msg/ReportMessage.java
@@ -61,6 +61,11 @@ public class ReportMessage extends MyAbstractMessageHandler {
         startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_CHASSIS_FAULT);//控制判断底盘异常，需要重启车辆
         //不知道确切的失败原因，需要联系控制进一步排查
         startAutopilotFailCode.add(MogoReport.Code.Error.EMAP.ENTRY_AUTOPILOT_FOR_UNKNOWN);//不知道确切的失败原因，需要联系控制进一步排查
+
+
+        startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.ROUTING_RESPONSE_FAIL);//算路异常，拒绝自动驾驶
+        startAutopilotFailCode.add(MogoReport.Code.Error.ESYS.TRAJECTORY_AGENT_NOT_READY);//轨迹下载客户端未就绪拒绝轨迹下载请求
+        startAutopilotFailCode.add(MogoReport.Code.Error.EFSM.ENTRY_AUTOPILOT);//FSM因为某些原因未进自驾
     }
 
     @Override
diff --git a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt
index 620cd25678..46809469ba 100644
--- a/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt
+++ b/libraries/mogo-map-api/src/main/java/com/mogo/map/overlay/core/Level.kt
@@ -10,6 +10,11 @@ enum class Level(val zIndex: Int) {
      */
     MAP_MARKER(100),
 
+    /**
+     * 全局轨迹线
+     */
+    TRAJECTORY_LINE(25000),
+
     /**
      * 车道中心线
      */