diff --git a/OCH/mogo-och-bus/src/main/res/layout/fragment_och_bus.xml b/OCH/mogo-och-bus/src/main/res/layout/fragment_och_bus.xml
index 558429d9ec..1b3710568c 100644
--- a/OCH/mogo-och-bus/src/main/res/layout/fragment_och_bus.xml
+++ b/OCH/mogo-och-bus/src/main/res/layout/fragment_och_bus.xml
@@ -170,7 +170,7 @@
 
     </androidx.constraintlayout.widget.ConstraintLayout>
     <TextView
-        android:id="@+id/switch_line_btn"
+        android:id="@+id/switch_line_btn"fragment_och_bus.xml
         android:layout_width="@dimen/module_mogo_och_autopilot_order_bg_width"
         android:layout_height="@dimen/bus_switch_line_btn"
         android:text="@string/bus_switch_line_btn"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CircularProgressView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CircularProgressView.kt
index eaa0cc7885..4d201ca303 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CircularProgressView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/CircularProgressView.kt
@@ -5,6 +5,7 @@ import android.content.Context
 import android.content.res.TypedArray
 import android.graphics.*
 import android.util.AttributeSet
+import android.util.Log
 import android.view.View
 import android.view.animation.OvershootInterpolator
 import androidx.core.content.ContextCompat
@@ -20,6 +21,7 @@ class CircularProgressView @JvmOverloads constructor(
     : View(context, attrs, defStyleAttr) {
 
     val typedArray: TypedArray = context.obtainStyledAttributes(attrs, R.styleable.CircularProgressView)
+    val TAG: String = "CircularProgressView"
 
     // 绘制画笔
     private val mBackPaint: Paint = Paint()
@@ -76,6 +78,7 @@ class CircularProgressView @JvmOverloads constructor(
         val mRectT = getPaddingTop() + (viewHigh - mRectLength) / 2
         mRectF = RectF(mRectL.toFloat(), mRectT.toFloat(), (mRectL + mRectLength).toFloat(),
                 (mRectT + mRectLength).toFloat())
+        Log.d(TAG, "渐变色:" + mColorArray?.size.toString())
         // 设置进度圆环渐变色
         mColorArray?.let {
             mProgPaint.shader = LinearGradient(
@@ -181,6 +184,7 @@ class CircularProgressView @JvmOverloads constructor(
         invalidate()
     }
 
+
     fun setProgColor(startColor: Int, endColor: Int) {
         mColorArray = intArrayOf(ContextCompat.getColor(context, startColor), ContextCompat.getColor(context, endColor))
         mColorArray?.let {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
index 6adfdd1cca..97ab6a6dcd 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -4,6 +4,9 @@ import android.content.Context;
 import android.util.AttributeSet;
 import android.util.Log;
 import android.view.LayoutInflater;
+import android.view.View;
+import android.view.animation.LinearInterpolator;
+import android.view.animation.RotateAnimation;
 import android.widget.ImageView;
 import android.widget.TextView;
 
@@ -30,6 +33,8 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
 /**
  * @author Jing
  * @description 方向盘
+ * 方向盘跟随CAN数据做旋转
+ * 档位随CAN数据做切换和高亮显示
  * @since: 4/7/22
  */
 public class SteeringWheelView extends ConstraintLayout {
@@ -38,22 +43,42 @@ public class SteeringWheelView extends ConstraintLayout {
     private TextView steeringTV;
     private TapPositionView tapPositionView;
     private CircularProgressView steeringCircularV;
+    private RotateAnimation rotateAnimation;
+    private float fromDegrees = 0;//方向盘旋转起始位置
+
+    public SteeringWheelView(@NonNull Context context) {
+        super(context);
+        Log.d(TAG, "1");
+    }
 
     public SteeringWheelView(@NonNull Context context, @Nullable AttributeSet attrs) {
         super(context, attrs);
+        Log.d(TAG, "2");
         LayoutInflater.from(context).inflate(R.layout.hmi_steering_wheel, this);
+        initView();
         CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, mGoAutopilotStatusListener);
         CallerAutopilotVehicleStateListenerManager.INSTANCE.addListener(TAG, mIMoGoAutopilotVehicleStateListener);
-        autopilotIV = findViewById(R.id.autopilot_iv);
+    }
+
+    private void initView() {
+        autopilotIV = (ImageView) findViewById(R.id.autopilot_iv);
         steeringTV = findViewById(R.id.steering_tv);
         tapPositionView = findViewById(R.id.tap_position);
         steeringCircularV = findViewById(R.id.steering_circular);
         steeringCircularV.setBackWidth(8);
         steeringCircularV.setBackColor(R.color.hmi_light_blue_00);
-        steeringCircularV.setProgColor(R.color.hmi_light_blue);
-        steeringCircularV.setProgFirstColor(R.color.hmi_dark_blue);
-        steeringCircularV.setProgress(20, 20);
-        tapPositionView.updateWithGear(Chassis.GearPosition.GEAR_R);
+        steeringCircularV.setProgColor(R.color.hmi_light_blue, R.color.hmi_dark_blue);
+        steeringCircularV.setProgress(10, 1000);
+    }
+
+    public SteeringWheelView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+        Log.d(TAG, "3");
+    }
+
+    public SteeringWheelView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr, int defStyleRes) {
+        super(context, attrs, defStyleAttr, defStyleRes);
+        Log.d(TAG, "4");
     }
 
     private final IMoGoAutopilotStatusListener mGoAutopilotStatusListener = new IMoGoAutopilotStatusListener() {
@@ -84,6 +109,8 @@ public class SteeringWheelView extends ConstraintLayout {
                 } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                     autopilotIV.setImageResource(R.drawable.bg_auto_nor);
                 }
+            } else {
+                Log.d(TAG, "autopilotIV=null");
             }
         }
 
@@ -116,6 +143,8 @@ public class SteeringWheelView extends ConstraintLayout {
         public void onAutopilotSteeringData(float steering) {
             if (steeringTV != null && String.valueOf(steering) != null) {
                 steeringTV.setText(String.valueOf(steering) + "°");
+                steeringCircularV.setProgress((int) steering, 1000);
+                animationWithSteeringData(steering);
             } else {
                 Log.d(TAG, "steering未呈现");
             }
@@ -134,4 +163,28 @@ public class SteeringWheelView extends ConstraintLayout {
         }
     };
 
+    /**
+     * 方向盘随CAN数据做方向和角度旋转
+     * 参数1从哪一个旋转角度开始
+     * 参数2：转到什么角度
+     * 后4个参数用于设置围绕着旋转的圆的圆心在哪里
+     * 参数3：肯定x轴坐标的类型，有ABSOLUT绝对坐标、RELATIVE_TO_SELF相对于自身坐标、RELATIVE_TO_PARENT相对于父控件的坐标
+     * 参数4：x轴的值，0.5f代表是以自身这个控件的一半长度为x轴
+     * 参数5：肯定y轴坐标的类型
+     * 参数6：y轴的值，0.5f代表是以自身这个控件的一半长度为x轴
+     *
+     * @param steering
+     */
+    private void animationWithSteeringData(float steering) {
+        Log.d(TAG, "方向盘转动" + String.valueOf(steering));
+        rotateAnimation = new RotateAnimation(fromDegrees, steering,
+                RotateAnimation.RELATIVE_TO_SELF, 0.5f,
+                RotateAnimation.RELATIVE_TO_SELF, 0.5f);
+        rotateAnimation.setDuration(1000);//旋转时长
+        rotateAnimation.setFillAfter(true);//旋转后保持原状
+        autopilotIV.clearAnimation();
+        autopilotIV.startAnimation(rotateAnimation);
+        fromDegrees = steering;
+    }
+
 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
index afb2ce5140..1a655e3660 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TapPositionView.java
@@ -40,40 +40,41 @@ public class TapPositionView extends ConstraintLayout {
     }
 
     public void updateWithGear(@NotNull Chassis.GearPosition gear) {
-
-        switch (gear) {
-            case GEAR_NONE:
-                tabP.setTextColor(Color.parseColor("#6E8EC9"));
-                tabR.setTextColor(Color.parseColor("#6E8EC9"));
-                tabN.setTextColor(Color.parseColor("#6E8EC9"));
-                tabD.setTextColor(Color.parseColor("#6E8EC9"));
-                break;
-            case GEAR_P:
-                tabP.setTextColor(Color.parseColor("#0043FF"));
-                tabR.setTextColor(Color.parseColor("#6E8EC9"));
-                tabN.setTextColor(Color.parseColor("#6E8EC9"));
-                tabD.setTextColor(Color.parseColor("#6E8EC9"));
-                break;
-            case GEAR_R:
-                tabR.setTextColor(Color.parseColor("#0043FF"));
-                tabP.setTextColor(Color.parseColor("#6E8EC9"));
-                tabN.setTextColor(Color.parseColor("#6E8EC9"));
-                tabD.setTextColor(Color.parseColor("#6E8EC9"));
-                break;
-            case GEAR_N:
-                tabN.setTextColor(Color.parseColor("#0043FF"));
-                tabR.setTextColor(Color.parseColor("#6E8EC9"));
-                tabP.setTextColor(Color.parseColor("#6E8EC9"));
-                tabD.setTextColor(Color.parseColor("#6E8EC9"));
-                break;
-            case GEAR_D:
-                tabD.setTextColor(Color.parseColor("#0043FF"));
-                tabN.setTextColor(Color.parseColor("#6E8EC9"));
-                tabR.setTextColor(Color.parseColor("#6E8EC9"));
-                tabP.setTextColor(Color.parseColor("#6E8EC9"));
-                break;
-            default:
-                break;
+        if (tabP != null && tabR != null && tabN != null && tabD != null) {
+            switch (gear) {
+                case GEAR_NONE:
+                    tabP.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabR.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabN.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabD.setTextColor(Color.parseColor("#6E8EC9"));
+                    break;
+                case GEAR_P:
+                    tabP.setTextColor(Color.parseColor("#0043FF"));
+                    tabR.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabN.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabD.setTextColor(Color.parseColor("#6E8EC9"));
+                    break;
+                case GEAR_R:
+                    tabR.setTextColor(Color.parseColor("#0043FF"));
+                    tabP.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabN.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabD.setTextColor(Color.parseColor("#6E8EC9"));
+                    break;
+                case GEAR_N:
+                    tabN.setTextColor(Color.parseColor("#0043FF"));
+                    tabR.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabP.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabD.setTextColor(Color.parseColor("#6E8EC9"));
+                    break;
+                case GEAR_D:
+                    tabD.setTextColor(Color.parseColor("#0043FF"));
+                    tabN.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabR.setTextColor(Color.parseColor("#6E8EC9"));
+                    tabP.setTextColor(Color.parseColor("#6E8EC9"));
+                    break;
+                default:
+                    break;
+            }
         }
     }
 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml
index 5108cbb5d9..aa5a02d635 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml
@@ -32,11 +32,11 @@
 
     <com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
         android:id="@+id/steering_circular"
-        android:layout_width="@dimen/dp_190"
-        android:layout_height="@dimen/dp_190"
+        android:layout_width="@dimen/dp_180"
+        android:layout_height="@dimen/dp_180"
         android:layout_alignParentTop="true"
         android:layout_centerHorizontal="true"
-        android:layout_marginTop="@dimen/dp_38"
+        android:layout_marginTop="@dimen/dp_36"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent"
@@ -50,8 +50,7 @@
         android:layout_centerHorizontal="true"
         android:layout_gravity="center_horizontal"
         android:layout_marginTop="@dimen/dp_54"
-        android:scaleType="fitXY"
-        android:src="@drawable/bg_auto_nor"
+        android:src="@drawable/bg_auto"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
diff --git a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
index 3fec33a8e2..e8a50c2de8 100644
--- a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
+++ b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
@@ -11,5 +11,6 @@
     <dimen name="module_v2x_brake_image_width">120px</dimen>
     <dimen name="module_v2x_brake_image_margin_left">37px</dimen>
     <dimen name="module_v2x_brake_image_margin_right">27px</dimen>
-
+    <dimen name="dp_144">144px</dimen>
+    <dimen name="dp_300">300px</dimen>
 </resources>