diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
index 6cf6eb90c4..930045f7bd 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
@@ -93,6 +93,10 @@ public class BusTrajectoryManager {
             // 5. 轨迹管理_轨迹下载超时
             CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载超时");
             // ToastUtils.showShort("轨迹下载超时");
+        } else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
+            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() ssm ready，再次发起下载");
+            syncTrajectoryInfo();
         }
     }
 
diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt
index df96f0bc00..39498449c5 100644
--- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt
+++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/manager/CharterTrajectoryManager.kt
@@ -78,6 +78,10 @@ object CharterTrajectoryManager {
             // 5. 轨迹管理_轨迹下载超时
             d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() 轨迹下载超时")
             // ToastUtils.showShort("轨迹下载超时");
+        } else if ("ISSM_FUNC_AUTO_PILOT_READY" == guardianInfo.getCode()) {
+            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
+            d(SceneConstant.M_CHARTER_D + TAG, "onAutopilotGuardian() ssm ready，再次发起下载")
+            syncTrajectoryInfo(get().getBusOrderResult()?.lineId!!)
         }
     }
 
diff --git a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
index e77143325d..d03324e646 100644
--- a/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
+++ b/OCH/mogo-och-charter/src/driverm1/java/com/magic/mogo/och/charter/model/DriverM1Model.kt
@@ -860,4 +860,8 @@ class DriverM1Model {
 
         return mCurrentRoute
     }
+
+    fun getBusOrderResult(): QueryCurrentOrderResponse.Result?{
+        return mCurrentOrder
+    }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
index aafcea35ee..fed001d399 100644
--- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
+++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/util/BusTrajectoryManager.java
@@ -92,6 +92,10 @@ public class BusTrajectoryManager {
             // 5. 轨迹管理_轨迹下载超时
             CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() 轨迹下载超时");
             // ToastUtils.showShort("轨迹下载超时");
+        } else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
+            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
+            CallerLogger.INSTANCE.d(M_BUS + TAG, "onAutopilotGuardian() ssm ready，再次发起下载");
+            syncTrajectoryInfo();
         }
     }
 
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
index 8d58a0199e..a330d16251 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
@@ -95,6 +95,10 @@ public class TaxiTrajectoryManager {
             // 5. 轨迹管理_轨迹下载超时
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() 轨迹下载超时");
             // ToastUtils.showShort("轨迹下载超时");
+        } else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
+            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
+            CallerLogger.INSTANCE.d(M_TAXI + TAG, "onAutopilotGuardian() ssm ready，再次发起下载");
+            syncTrajectoryInfo();
         }
      }
 
diff --git a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java
index 878cb08b78..dd61622c93 100644
--- a/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java
+++ b/OCH/sweeper/sweeper/src/main/java/com/mogo/och/sweeper/util/SweeperTrajectoryManager.java
@@ -87,6 +87,10 @@ public class SweeperTrajectoryManager {
             // 5. 轨迹管理_轨迹下载超时
             CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() 轨迹下载超时");
             // ToastUtils.showShort("轨迹下载超时");
+        } else if ("ISSM_FUNC_AUTO_PILOT_READY".equals(guardianInfo.getCode())) {
+            // 收到ssm的自动驾驶变为ready，再次下发轨迹下载.解决：域控重启，或者102域控启动太早，107节点初始化未完成导致的轨迹未进行下载。
+            CallerLogger.INSTANCE.d(M_SWEEPER + TAG, "onAutopilotGuardian() ssm ready，再次发起下载");
+            // TODO: 2023/7/25
         }
     }