diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 28c22f948a..4cc7601535 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -561,7 +561,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             smallMapView.setVisibility(View.GONE);
         } else {
             mCloseNaviIcon.setVisibility(View.GONE);
-            flNaviPanelContainer.setVisibility(View.GONE);
+            flNaviPanelContainer.setVisibility(View.INVISIBLE);
             smallMapView.setVisibility(View.VISIBLE);
         }
     }
@@ -605,7 +605,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         } else {
             closeRouteViewIFHadeAdd();
             mCloseNaviIcon.setVisibility(View.GONE);
-            flNaviPanelContainer.setVisibility(View.GONE);
+            flNaviPanelContainer.setVisibility(View.INVISIBLE);
             smallMapView.setVisibility(View.VISIBLE);
         }
     }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
index b9c0a1276a..1f7b1cf37a 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
@@ -493,7 +493,9 @@ class TaxiCurrentTaskFragment : BaseFragment(),
     }
 
     private fun updateOrderUI(order: OrderDetail) {
-        cancelOrder.visibility = View.VISIBLE
+        cancelOrder.visibility = if (order.orderStatus
+            == TaxiOrderStatusEnum.ArriveAtEnd.code
+        ) View.GONE else View.VISIBLE
         orderPhoneAndNum.visibility = View.VISIBLE
         taskClickBtn.visibility = View.VISIBLE
         taskTypeTv.visibility = View.VISIBLE
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
index 753b29ef78..c1d5857c2f 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -31,7 +31,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
-import com.mogo.eagle.core.utilcode.mogo.storage.SharedPrefsMgr
 import com.mogo.eagle.core.utilcode.util.*
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager
 import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage
@@ -119,7 +118,7 @@ object TaxiTaskModel {
 
     private var mPrepareTaskDelayRunnable: Runnable? = null
 
-    private var mIsArrivedSiteTag = false //到站标志位,防止围栏触发多次调用到站接口
+    private var mIsArrivedSiteStartTag = false //到站接口请求标志位,防止围栏触发多次调用到站接口, true 接口请求, false : 接口请求完成
 
     fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
         if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
@@ -557,12 +556,12 @@ object TaxiTaskModel {
         siteId: Long, isArriveAtEndSite: Boolean,
         isArrivedNearestStation: Boolean = false
     ) {
-        if (mIsArrivedSiteTag) {
+        if (mIsArrivedSiteStartTag) {
             DebugView.printInfoMsg("arriveSite接口正在调用中")
-            i(TAG, message = "arriveSite接口正在调用中 mIsArrivedSite = $mIsArrivedSiteTag")
+            i(TAG, message = "arriveSite接口正在调用中 mIsArrivedSite = $mIsArrivedSiteStartTag")
             return
         }
-        mIsArrivedSiteTag = true
+        mIsArrivedSiteStartTag = true
         DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
         i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
         TaxiTaskWithOrderServiceManager.arriveSite(
@@ -570,8 +569,10 @@ object TaxiTaskModel {
             siteId,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
-                    mIsArrivedSiteTag = false
-                    if (data == null || data.code != 0) return
+                    if (data == null || data.code != 0) {
+                        mIsArrivedSiteStartTag = false
+                        return
+                    }
                     DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
                     d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
                     mDriveToNearestStationTask = null
@@ -587,7 +588,7 @@ object TaxiTaskModel {
 
                 override fun onError() {
                     super.onError()
-                    mIsArrivedSiteTag = false
+                    mIsArrivedSiteStartTag = false
                     if (!NetworkUtils.isConnected(mContext)) { // 网络异常,接口重试
                         ToastUtils.showShort("网络出现异常,请稍后重试")
                         DebugView.printErrorMsg("[上报ArriveSite] 网络出现异常,请稍后重试")
@@ -598,7 +599,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
-                    mIsArrivedSiteTag = false
+                    mIsArrivedSiteStartTag = false
                     DebugView.printErrorMsg("[上报ArriveSite] failed, code=$code, msg=$msg")
                     d(TAG, "code=$code msg=$msg")
                     ToastUtils.showShort("到站接口请求出现异常,请稍后重试,code=$code msg=$msg")
@@ -718,6 +719,7 @@ object TaxiTaskModel {
                         //注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
                         if (result.currentStatus == TaskStatusEnum.CompleteTask.code
                         ) {
+                            mIsArrivedSiteStartTag = false //任务完成说明到站, 更新到站标识位, 不再到站接口请求成功更新
                             mADASStatusCallback?.updateAutopilotStatus()
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
@@ -728,6 +730,7 @@ object TaxiTaskModel {
                         //达到终点后查询全程里程和用时
                         if (QueryCurrentTaskRespBean.isOrderArriveAtEnd(result)) {
                             d(TAG, "queryCurrentTaskOnce ArriveAtEnd")
+                            mIsArrivedSiteStartTag = false
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
                                 listener.onOrderArriveAtEnd(result.order!!.orderNo)
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
index 902302fec5..e0c8f7057e 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/v2x/TrafficLightDispatcher.kt
@@ -66,6 +66,11 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     //obu数据
     @Volatile
     private var hasObuLightStatus: Boolean = false
+
+    //是否有自车感知红绿灯数据
+    @Volatile
+    private var hasAutopilotPerception: Boolean = false
+
     //红绿灯定时器，超时未更新隐藏红绿灯
     @Volatile
     private var lightCountDownTimer: CountDownTimer? = null
@@ -90,7 +95,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         )
         if (!hasObuLightStatus) {
             if (!hasAiLightStatus) {
-                trafficLights?.let { it ->
+                trafficLights?.let {
                     var light: TrafficLight? = null
                     if (it.hasStraight()) {
                         light = it.straight
@@ -106,9 +111,13 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
                         "onAutopilotPerceptionTrafficLight light = $light "
                     )
                     if (light == null) {
+                        hasAutopilotPerception = false
                         //隐藏红绿灯显示
                         hide("感知light为null隐藏", DataSourceType.TELEMATIC)
                     } else {
+                        if(!hasAutopilotPerception){
+                            hasAutopilotPerception = true
+                        }
                         onTrafficLightPlusSource(light.convert(), 0, DataSourceType.TELEMATIC)
                     }
                 }
@@ -127,7 +136,6 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             )
         }
         if (!hasObuLightStatus) {
-            hasAiLightStatus = true
             CallerLogger.d(
                 "${SceneConstant.M_D_C}${TAG}",
                 "onTrafficLightStatus trafficLightResult = $trafficLightResult "
@@ -156,7 +164,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             //如果没有OBU灯态则进行隐藏，如果有OBU灯态，则交由OBU管理
             if (!hasObuLightStatus) {
                 CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
-                hide("云端离开路口隐藏", DataSourceType.AICLOUD)
+//                hide("云端离开路口隐藏", DataSourceType.AICLOUD)
             }
         }
     }
@@ -165,15 +173,15 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
      * 红绿灯接口请求失败
      */
     override fun onTrafficRequestError() {
-        hasAiLightStatus = false
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "onTrafficRequestError hasObuLightStatus = $hasObuLightStatus ------> "
         )
-        CallerTrafficLightListenerManager.resetTrafficLightStatus(!hasObuLightStatus)
-        if (!hasObuLightStatus) {
-            hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
-        }
+        CallerTrafficLightListenerManager.resetTrafficLightStatus(hasAiLightStatus)
+        hasAiLightStatus = false
+//        if (!hasObuLightStatus) {
+//            hide("云端红绿灯接口请求失败隐藏", DataSourceType.AICLOUD)
+//        }
     }
 
     /**
@@ -186,14 +194,14 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
     }
 
     /**
-     * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示的时候，不执行。否则会闪屏
+     * 是否重置红绿灯数据,需要确保，在obu的红绿灯显示或自车感知红绿灯显示的时候，不执行。否则会闪屏
      */
     override fun resetTrafficLight(isReset: Boolean) {
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
             "resetTrafficLight ------> isReset = $isReset ---hasObuLightStatus = $hasObuLightStatus"
         )
-        if (!hasObuLightStatus) {
+        if (!hasObuLightStatus && !hasAutopilotPerception) {
             if (isReset) {
                 hide("云端重置红绿灯数据", DataSourceType.AICLOUD)
             }
@@ -228,6 +236,7 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
         super.onTrafficLightPlusSource(light, remain, lightSource)
         if (lightSource == DataSourceType.OBU) {
             hasObuLightStatus = true
+            hasAutopilotPerception = false
         }
         CallerLogger.d(
             "${SceneConstant.M_D_C}${TAG}",
@@ -293,6 +302,8 @@ class TrafficLightDispatcher : IMoGoAutopilotIdentifyListener, IMoGoTrafficLight
             "updateTrafficLight ----- currentTrafficLight = $currentTrafficLight"
         )
         currentTrafficLight?.let {
+            hasAiLightStatus = true
+            hasAutopilotPerception = false
             val remain = if (it.time() > 99) {
                 99
             } else {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
index 28272c135c..84742609d3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
@@ -99,6 +99,10 @@ class ParallelDriveView @JvmOverloads constructor(
                     ToastUtils.showShort("请求已取消！")
                     checkAvailableAndUpdateUI()
                 }
+                AD_REQUESTING -> {
+                    Log.d(TAG, "Click-自动驾驶正在请求平行驾驶")
+                    ToastUtils.showShort("自动驾驶正在请求平行驾驶")
+                }
                 UNAVAILABLE -> {
                     Log.d(TAG, "Click-请P档驻车并松开油门刹车后请求")
                     ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
@@ -251,7 +255,7 @@ class ParallelDriveView @JvmOverloads constructor(
 
             AD_REQUESTING -> {
                 stopSyncAnimation()
-                rootLayout.isEnabled = false
+                rootLayout.isEnabled = true
                 statusIconOuter.visibility = GONE
                 rootLayout.alpha = 1f
                 statusIcon.background =
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index 041a3b4f91..dd886db100 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -290,18 +290,6 @@
                 android:textOn="关闭obu预警融合"
                 android:textSize="@dimen/dp_24" />
 
-            <ToggleButton
-                android:id="@+id/tbCronet"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_margin="@dimen/dp_10"
-                android:padding="@dimen/dp_20"
-                android:background="@drawable/radio_button_normal_background_right"
-                android:textColor="#000"
-                android:textOff="开启QUIC协议(网络信号差时)"
-                android:textOn="关闭QUIC协议"
-                android:textSize="@dimen/dp_24" />
-
             <!-- APP升级数据  start -->
             <ToggleButton
                 android:id="@+id/tbAppUpgrade"
@@ -2365,6 +2353,17 @@
 
                 </LinearLayout>
             </LinearLayout>
+            <ToggleButton
+                android:id="@+id/tbCronet"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:padding="@dimen/dp_20"
+                android:background="@drawable/radio_button_normal_background_right"
+                android:textColor="#000"
+                android:textOff="开启QUIC协议(服务器暂不支持)"
+                android:textOn="关闭QUIC协议"
+                android:textSize="@dimen/dp_24" />
         </LinearLayout>
 
     </androidx.core.widget.NestedScrollView>