diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
index 4eee9670ee..17e99eac1a 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
@@ -1,6 +1,8 @@
 package com.mogo.och.common.module.wigets;
 
+import android.annotation.SuppressLint
 import android.content.Context
+import android.os.CountDownTimer
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
@@ -11,8 +13,10 @@ import android.widget.RelativeLayout
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.och.common.module.R
+import com.mogo.och.common.module.utils.SoundPoolHelper
 import kotlinx.android.synthetic.main.start_autopilot_animation_view.view.startAutopilotTip
 import kotlinx.android.synthetic.main.start_autopilot_animation_view.view.startAutopilotTipImg
+import java.lang.Exception
 import java.util.concurrent.atomic.AtomicReference
 
 
@@ -27,6 +31,9 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
         private const val TAG = "V2XWarningView"
     }
 
+    private var startTimer: CountDownTimer? = null
+    private val mContext: Context
+
     private val closeWarningTask: Runnable = Runnable {
         showWarning(DirectionEnum.ALERT_WARNING_NON)
     }
@@ -34,9 +41,18 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
     private val oldDirection = AtomicReference<DirectionEnum>()
 
     init {
+        mContext = context
         LayoutInflater.from(context).inflate(R.layout.start_autopilot_animation_view, this, true)
     }
 
+    fun playDI(){
+        try {
+            SoundPoolHelper.getSoundPoolHelper().playSoundWithRedId(mContext , R.raw.startautopilot)
+        }catch (e: Exception){
+            e.printStackTrace()
+        }
+    }
+
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
     }
@@ -47,6 +63,12 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
 
     fun dismiss(direction: DirectionEnum) {
         dismissWarning(direction)
+        cancelCountdown()
+    }
+
+    fun cancelCountdown(){ //防止内存泄漏
+        startTimer?.cancel()
+        startTimer = null
     }
 
     /**
@@ -56,7 +78,8 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
      */
     private fun showWarning(direction: DirectionEnum, time: Long = ALL_CLOSE_TIMER) {
 
-        startAutopilotTip.text = direction.desc
+        //开始倒计时
+        countDownTimer()
 
         // 如果传入的不是关闭显示，则设置倒计时，定时关闭红框警示
         if (oldDirection.get() == direction) {
@@ -72,6 +95,7 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
         post {
             if (direction == DirectionEnum.ALERT_WARNING_TOP){
                 startAutopilotTipImg.visibility = View.VISIBLE
+                startAutopilotTip.visibility = View.VISIBLE
             }
 
             if (direction == DirectionEnum.ALERT_WARNING_NON) {
@@ -96,6 +120,7 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
             when (direction) {
                 DirectionEnum.ALERT_WARNING_TOP -> {
                     startAutopilotTipImg.visibility = View.GONE
+                    startAutopilotTip.visibility = View.GONE
                 }
                 else -> {
                     CallerLogger.d("$M_HMI$TAG", "Not Support Direction")
@@ -112,15 +137,31 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
 
     enum class DirectionEnum(
         var direction: Int,
-        var desc: String,
     ) {
         ALERT_WARNING_NON(
-            0,
-            "关闭红色边框预警"
-        ),
+            0),
         ALERT_WARNING_TOP(
-            1,
-            "正上方"
-        ),
+            1)
     }
+
+    private fun countDownTimer() {
+
+        startTimer = object : CountDownTimer(ALL_CLOSE_TIMER, 1000L) {// 5倒计时后开启自驾
+
+            @SuppressLint("SetTextI18n")
+            override fun onTick(millisUntilFinished: Long) {
+                // 倒计时
+                startAutopilotTip.text = "${(millisUntilFinished/1000).toInt()} 车辆即将自动开启自动驾驶"
+                playDI()
+            }
+
+            override fun onFinish() {
+                //倒计时结束了...
+                startAutopilotTip.text = "车辆正在自动开启自动驾驶"
+            }
+        }
+
+        startTimer?.start()
+    }
+
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-common-module/src/main/res/layout/start_autopilot_animation_view.xml b/OCH/mogo-och-common-module/src/main/res/layout/start_autopilot_animation_view.xml
index ffc928340f..bf45939451 100644
--- a/OCH/mogo-och-common-module/src/main/res/layout/start_autopilot_animation_view.xml
+++ b/OCH/mogo-och-common-module/src/main/res/layout/start_autopilot_animation_view.xml
@@ -9,7 +9,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_gravity="center_horizontal"
-        android:text="开始自驾"
+        android:visibility="gone"
         android:textSize="@dimen/dp_34"
         android:textColor="@android:color/white"/>
     <ImageView
diff --git a/OCH/mogo-och-common-module/src/main/res/raw/startautopilot.wav b/OCH/mogo-och-common-module/src/main/res/raw/startautopilot.wav
new file mode 100644
index 0000000000..528c6fb9b0
Binary files /dev/null and b/OCH/mogo-och-common-module/src/main/res/raw/startautopilot.wav differ
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/base/BaseTaxiTabFragment.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/base/BaseTaxiTabFragment.kt
index 5093866e0c..7803ac53f6 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/base/BaseTaxiTabFragment.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/base/BaseTaxiTabFragment.kt
@@ -3,6 +3,7 @@ package com.mogo.och.taxi.base
 import android.animation.ObjectAnimator
 import android.annotation.SuppressLint
 import android.os.Bundle
+import android.os.CountDownTimer
 import android.os.Handler
 import android.os.Looper
 import android.os.SystemClock
@@ -36,8 +37,10 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.map.listener.IMogoMapListener
 import com.mogo.map.uicontroller.VisualAngleMode
 import com.mogo.och.common.module.utils.AnimatorDrawableUtil
+import com.mogo.och.common.module.wigets.StartAutopilotAnimationView
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
+import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.START_AUTOPILOT_ANIMATION_INTERVAL
 import com.mogo.och.taxi.ui.TaxiAmapNaviFragment
 import com.mogo.och.taxi.ui.TaxiRottingNaviFragment
 import kotlinx.android.synthetic.main.taxi_base_fragment.anim_flow_iv
@@ -54,6 +57,7 @@ import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_taxi_badcase
 import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_taxi_setting_layout
 import kotlinx.android.synthetic.main.taxi_base_fragment.module_och_taxi_swich_map_layout
 import kotlinx.android.synthetic.main.taxi_base_fragment.smallMapView
+import kotlinx.android.synthetic.main.taxi_base_fragment.startAutopilotAnimationView
 import kotlinx.android.synthetic.main.taxi_base_fragment.taxi_close_navi_icon
 import kotlinx.android.synthetic.main.taxi_base_fragment.taxi_switch_icon
 import kotlinx.android.synthetic.main.taxi_base_fragment.viewDriverMsgBoxBubble
@@ -301,6 +305,7 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
 
     override fun onDestroyView() {
         mapBizView.onDestroy()
+        startAutopilotAnimationView.cancelCountdown()
         super.onDestroyView()
         CallerAutopilotRecordListenerManager.removeListener(TAG)
     }
@@ -616,4 +621,17 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
     }
 
     abstract fun startNaviToEndStation(isShow: Boolean)
+
+    fun showStartAutopilotBlinkAnimation(){
+        startAutopilotAnimationView.show(
+            StartAutopilotAnimationView.DirectionEnum.ALERT_WARNING_TOP,START_AUTOPILOT_ANIMATION_INTERVAL)
+
+        UiThreadHandler.postDelayed({
+            stopStartAutopilotBlinkAnimation()
+        },START_AUTOPILOT_ANIMATION_INTERVAL)
+    }
+
+    private fun stopStartAutopilotBlinkAnimation(){
+        startAutopilotAnimationView.dismiss(StartAutopilotAnimationView.DirectionEnum.ALERT_WARNING_TOP)
+    }
 }
\ No newline at end of file
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/bean/UnmannedTaskBean.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/bean/UnmannedTaskBean.kt
index 7b2249e13f..41b225b5d7 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/bean/UnmannedTaskBean.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/bean/UnmannedTaskBean.kt
@@ -16,7 +16,8 @@ data class OrderDetail(
     var bookingUserPhone: String,
     var passengerSize: Int,
     var fullMinutes: Int, //到站后返回的总里程 /公里
-    var fullMileage: Float // 到站后返回的总用时 /分钟
+    var fullMileage: Float, // 到站后返回的总用时 /分钟
+    var orderLine: Long // 订单路线id
 ) {
     override fun equals(other: Any?): Boolean {
         if (this === other) return true
@@ -91,16 +92,16 @@ data class StartTaskReqBean(var sn: String, var lineId: Long)
 
 data class ArriveSiteReqBean(var sn: String, var siteId: Long)
 data class PrepareTaskReqBean(var sn: String, var siteId: Long)
-data class PrepareTaskRespBean(
-    var lineId: Long, var cityCode: Int, var taskType: Int,
-    var startSite: Site, var endSite: Site
-) //taskType 1:虚拟任务 2:接驾任务3:送驾任务
-    : BaseData()
+data class PrepareTaskRespBean(var data: Result): BaseData(){ //taskType 1:虚拟任务 2:接驾任务3:送驾任务
+     data class Result(
+        var lineId: Long, var cityCode: Int, var taskType: Int,
+        var startSite: Site, var endSite: Site
+    )
+}
 
 data class JumpPassengerCheckReqBean(var sn: String, var orderNo: String)
-data class CancelOrderReqBean(var sn: String, var orderNo: String)
+data class CancelOrderReqBean(var sn: String, var orderNo: String, var cancelType: Int)
 data class OrderCompletedReqBean(var sn: String, var orderNo: String)
-data class ContrailListReqBean(var lineIds: Array<Long>)
 data class QueryCarOrderByNoReqBean(var sn: String, var orderNo: String)
 data class QueryCarOrderByNoRespBean(
     var sn: String, var orderNo: String, var orderStatus: Int,
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
index 070559f406..63d40bb47e 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
@@ -14,4 +14,7 @@ public interface ITaxiControllerStatusCallback {
     void onCarLocationChanged(MogoLocation location);
     //开始开启自动驾驶
     void startOpenAutopilot();
+
+    //自动开启自动驾驶
+    void startOpenAutopilotNonManual();
 }
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt
index 9b9b2e487a..4b262da6c9 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt
@@ -73,7 +73,11 @@ class TaxiUnmannedConst {
 
         const val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L
 
-        const val TIMER_PREPARE_TASK_INTERVAL = 30 * 1000L
+        const val TIMER_PREPARE_TASK_INTERVAL = 30 * 1000L //30s再次获取任务
+
+        const val COUNTDOWN_INTERVAL = 5 * 1000L //30s再次获取任务
+
+        const val START_AUTOPILOT_ANIMATION_INTERVAL = 7 * 1000L //30s再次获取任务
 
     }
 }
\ No newline at end of file
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiModel.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiModel.kt
index 825443b084..677bf682bb 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiModel.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiModel.kt
@@ -61,14 +61,13 @@ import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceM
 import com.mogo.och.common.module.manager.distancemamager.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.voice.VoiceNotice
 import com.mogo.och.taxi.bean.ContrailListRespBean
 import com.mogo.och.taxi.bean.OrderDetail
-import com.mogo.och.taxi.bean.PrepareTaskRespBean
 import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
 import com.mogo.och.taxi.bean.StartServiceRespBean
 import com.mogo.och.taxi.callback.IOCHTaxiAutopilotPlanningCallback
 import com.mogo.och.taxi.callback.ITaxiADASStatusCallback
-import com.mogo.och.taxi.callback.ITaxiCarOperationalCallback
 import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback
 import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback
 import com.mogo.och.taxi.constant.TaskStatusEnum
@@ -76,10 +75,9 @@ import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.constant.TaxiOrderStatusEnum.Companion.valueOf
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.BUSINESSTYPE
-import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.TIMER_PREPARE_TASK_INTERVAL
+import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.COUNTDOWN_INTERVAL
 import com.mogo.och.taxi.network.CarServiceManager
 import com.mogo.och.taxi.network.CarServiceManager.arriveSite
-import com.mogo.och.taxi.network.CarServiceManager.prepareTask
 import com.mogo.och.taxi.network.CarServiceManager.startTask
 import com.mogo.och.taxi.utils.TaxiAnalyticsManager
 import com.mogo.och.taxi.utils.TaxiTrajectoryManager
@@ -121,8 +119,7 @@ object TaxiModel {
 
     private var mADASStatusCallback //Model->Presenter：自动驾驶状态相关
             : ITaxiADASStatusCallback? = null
-    private var mCarOperationalCallback //Model->Presenter：登录状态和司机今日接单状态
-            : ITaxiCarOperationalCallback? = null
+
     private var mControllerStatusCallback //Model->Presenter：VR mode等
             : ITaxiControllerStatusCallback? = null
     private var mOrderStatusCallback //Model->Presenter：订单变更
@@ -144,10 +141,6 @@ object TaxiModel {
         mADASStatusCallback = callback
     }
 
-    fun setCarStatusCallback(callback: ITaxiCarOperationalCallback?) {
-        mCarOperationalCallback = callback
-    }
-
     fun setControllerStatusCallback(callback: ITaxiControllerStatusCallback?) {
         mControllerStatusCallback = callback
     }
@@ -300,7 +293,7 @@ object TaxiModel {
             return
         }
         mCurrentTaskAndOrder = data
-        TaxiTrajectoryManager.getInstance().syncTrajectoryInfo()
+
         SharedPrefsMgr.getInstance(mContext!!).putString(
             TaxiUnmannedConst.SP_KEY_OCH_TAXI_ORDER,
             GsonUtil.jsonFromObject(data)
@@ -410,7 +403,7 @@ object TaxiModel {
         }
 
         //根据开关和后台是否发布轨迹启动自驾
-        if (FunctionBuildConfig.isPassStartAutopilotCommand && TextUtils.isEmpty(
+        if (FunctionBuildConfig.isPassStartAutopilotCommand && mCurTaskContrail != null && TextUtils.isEmpty(
                 mCurTaskContrail!!.csvFileUrl
             )
             && TextUtils.isEmpty(mCurTaskContrail!!.csvFileUrlDPQP)
@@ -707,12 +700,15 @@ object TaxiModel {
         CarServiceManager.contrailList(mContext!!, planningLines,
             object : OchCommonServiceCallback<ContrailListRespBean> {
                 override fun onSuccess(data: ContrailListRespBean?) {
+                    d(SceneConstant.M_TAXI + TAG, "queryTaskContrail: ${GsonUtil.jsonFromObject(data?.data)}")
                     if (data == null || data.code != 0) return
                     mCurTaskContrail = data.data?.get(0)
+
+                    TaxiTrajectoryManager.getInstance().syncTrajectoryInfo()
                 }
 
                 override fun onFail(code: Int, msg: String?) {
-                    d(SceneConstant.M_TAXI + TAG, "queryOrderContrails code=$code,msg=$msg")
+                    d(SceneConstant.M_TAXI + TAG, "queryTaskContrail code=$code,msg=$msg")
                 }
 
             })
@@ -1068,4 +1064,17 @@ object TaxiModel {
     fun updateOrderContrails(contrails: MutableList<ContrailListRespBean.Result>?) {
         mOrderContrails = contrails
     }
+
+    fun autoStartDriving(){
+        //启动动画+文字
+        if (mControllerStatusCallback != null) {
+            mControllerStatusCallback!!.startOpenAutopilotNonManual()
+        }
+
+        UiThreadHandler.postDelayed({
+            toStartTask() //状态流转
+            startAutoPilot() //自驾开启
+            VoiceNotice.showNotice("车辆正在自动开启自动驾驶")
+        },COUNTDOWN_INTERVAL) // 5s后开启自驾, 状态流转
+    }
 }
\ No newline at end of file
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiUnmannedViewModel.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiUnmannedViewModel.kt
index db880b22dc..7904ca67ee 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiUnmannedViewModel.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/model/TaxiUnmannedViewModel.kt
@@ -86,7 +86,7 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
             }
 
             is UnmannedIntent.CancelOrder -> {// 取消订单, 暂未加取消类型和原因
-                handleCancelOrder()
+                handleCancelOrder(intent.type)
             }
 
             is UnmannedIntent.StartTask -> {
@@ -95,9 +95,9 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
         }
     }
 
-    private fun handleCancelOrder() {
+    private fun handleCancelOrder(cancelType: Int) {
         if (mCurrentTaskAndOrder != null && mCurrentTaskAndOrder!!.order != null){
-            cancelOrder(mContext, mCurrentTaskAndOrder!!.order!!.orderNo,
+            cancelOrder(mContext, mCurrentTaskAndOrder!!.order!!.orderNo,cancelType,
                 object : OchCommonServiceCallback<BaseData>{
                     override fun onSuccess(data: BaseData?) {
                         d(SceneConstant.M_TAXI + TAG, "handleCancelOrder() = onSuccess")
@@ -130,7 +130,8 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                         updateUntruthTask(null)
 
                         if (mCurrentTaskAndOrder != null && mCurrentTaskAndOrder!!.endSite != null
-                             && mCurrentTaskAndOrder!!.startSite != null){
+                             && mCurrentTaskAndOrder!!.startSite != null
+                            && mCurrentTaskAndOrder!!.currentStatus < TaskStatusEnum.CompleteTask.code){
                             VoiceNotice.showNotice("暂停接单啦！要完成当前订单哦")
                         }else{
                             VoiceNotice.showNotice("暂停接单啦")
@@ -283,7 +284,8 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                     d(TAG, "queryCurrentTaskOnce = mCurrentTaskAndOrder = " + GsonUtil.jsonFromObject(mCurrentTaskAndOrder))
 
 
-                    if (result!!.endSite == null && mCurrentTaskAndOrder != null && mCurrentTaskAndOrder!!.order!= null) {
+                    if (mCurrentTaskAndOrder != null && mCurrentTaskAndOrder!!.order!= null &&
+                         result != null && result.order == null) {
                         //本地根据订单 orderNo 去查询下(乘客取消订单)
                         queryCurrentOrderStatusByNo(mCurrentTaskAndOrder!!.order!!.orderNo)
                         return
@@ -292,6 +294,8 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                     //订单或者伪任务更新, 都去刷新下界面
                     if (mCurrentTaskAndOrder == null || !mCurrentTaskAndOrder!!.equals(result)){
 
+                        if (result == null) return
+
                         if (result.endSite == null &&  result.order == null){
                             mCurrentTaskAndOrder = null
                             updateNoTaskAndOrderUi()
@@ -303,17 +307,29 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                         }
 
                         mCurrentTaskAndOrder = result
+                        TaxiModel.updateCurrentTaskAndOrder(result)
+                        TaxiModel.updateStation()
+                        updateTaskAndOrderUi()
 
-                        //根据lineId集合去查轨迹集合
-                        if (result.order != null && result.taskType == TaskTypeEnum.ToOrderStartTask.code){
-                            queryOrderPickUpConertrail(result.order!!.planningLines)
+                        if (result.order != null && result.order!!.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.code){
+                            queryCurrentOrderStatusByNo(mCurrentTaskAndOrder!!.order!!.orderNo) //查询全程里程和用时,更新
                         }
 
-                        TaxiModel.updateCurrentTaskAndOrder(result)
+                        //根据lineId集合去查轨迹集合, 返回的只是接驾任务的line集合,没有送驾任务
+                        if (result.order != null && result.order!!.orderStatus <= TaxiOrderStatusEnum.OnTheWayToEnd.code){
+                            var lines = result.order!!.planningLines
+                            lines[lines.size] = result.order!!.orderLine
+                            queryOrderPickUpContrails(lines)
+                        }
 
-                        TaxiModel.updateStation()
+                        if (result.currentStatus <= TaskStatusEnum.StartTask.code){//任务执行中, 去加载下轨迹
+                           TaxiModel.queryTaskContrail(Array(1) {result.lineId})
+                        }
 
-                        updateTaskAndOrderUi()
+                        if (result.taskType <= TaskTypeEnum.ToOrderStartTask.code
+                            && result.currentStatus == TaskStatusEnum.GetTask.code){//自动去启动自驾
+                            TaxiModel.autoStartDriving()
+                        }
                     }
                 }
 
@@ -328,7 +344,7 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
      * 查询送驾任务轨迹集合
      * 注: 运营单刚来的时候, 有可能还在运行一个演练任务, 要先跑完演练任务才跑运营单
      */
-    private fun queryOrderPickUpConertrail(planningLines: Array<Long>?) {
+    private fun queryOrderPickUpContrails(planningLines: Array<Long>?) {
         if (planningLines == null) return
         contrailList(mContext,planningLines,
             object : OchCommonServiceCallback<ContrailListRespBean>{
@@ -337,12 +353,11 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                     val contrails = data.data
                     if (mCurrentTaskAndOrder != null){
                         TaxiModel.updateOrderContrails(contrails)
-                        TaxiModel.queryTaskContrail(Array(1) {mCurrentTaskAndOrder!!.lineId})
                     }
                 }
 
                 override fun onFail(code: Int, msg: String?) {
-                    d(SceneConstant.M_TAXI + TAG, "queryOrderContrails code=$code,msg=$msg")
+                    d(SceneConstant.M_TAXI + TAG, "queryOrderContrail code=$code,msg=$msg")
                 }
 
             })
@@ -355,7 +370,6 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                     if (data != null && data.code != 0) return
                     if (data!!.orderStatus == TaxiOrderStatusEnum.Cancel.code){
                         VoiceNotice.showNotice("乘客已经取消")
-//                        mCurrentTaskAndOrder?.order?.orderStatus = TaxiOrderStatusEnum.Cancel.code
                         mCurrentTaskAndOrder = null
                         updateTaskAndOrderUi()
                         return
@@ -400,14 +414,15 @@ class TaxiUnmannedViewModel : BaseViewModel<UnmannedState, UnmannedIntent>(){
                 siteId,
                 object : OchCommonServiceCallback<PrepareTaskRespBean> {
                     override fun onSuccess(data: PrepareTaskRespBean?) {
-                        d(SceneConstant.M_TAXI + TAG, GsonUtil.jsonFromObject(data))
+                        d(SceneConstant.M_TAXI + TAG, "prepareTask = " + GsonUtil.jsonFromObject(data))
                         if (data == null || data.code != 0) return
                         //去下载轨迹, 下发给工控机下载
-                        queryOrderPickUpConertrail(Array(1) { data.lineId })
+                        TaxiModel.queryTaskContrail(Array(1) {data.data.lineId})
                     }
 
                     override fun onFail(code: Int, msg: String?) {
                         d(SceneConstant.M_TAXI + TAG, "$code $msg")
+                        startPrepareTask(siteId) //失败后30s再次调用获取下一任务
                     }
 
                 })
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/CarServiceManager.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/CarServiceManager.kt
index 6abfc6f8d9..eb0a4e845e 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/CarServiceManager.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/CarServiceManager.kt
@@ -150,11 +150,11 @@ object CarServiceManager {
      */
     @JvmStatic
     fun cancelOrder(
-        context: Context, orderNo: String,
+        context: Context, orderNo: String, cancelType: Int,
         callback: OchCommonServiceCallback<BaseData>?
     ) {
         mOCHTaxiServiceApi.cancelOrder(
-            data = CancelOrderReqBean(MoGoAiCloudClientConfig.getInstance().sn, orderNo)
+            data = CancelOrderReqBean(MoGoAiCloudClientConfig.getInstance().sn, orderNo,cancelType)
         ).transformTry()
             .subscribe(OchCommonSubscribeImpl(context, callback, "cancelOrder"))
     }
@@ -167,8 +167,7 @@ object CarServiceManager {
         context: Context, linIds: Array<Long>,
         callback: OchCommonServiceCallback<ContrailListRespBean>?
     ) {
-        mOCHTaxiServiceApi.contrailList(
-            data = ContrailListReqBean(linIds)
+        mOCHTaxiServiceApi.contrailList(data = linIds
         ).transformTry()
             .subscribe(OchCommonSubscribeImpl(context, callback, "contrailList"))
     }
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/UnmannedTaskServiceApi.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/UnmannedTaskServiceApi.kt
index 6cfa0a709e..0f890f274c 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/UnmannedTaskServiceApi.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/network/UnmannedTaskServiceApi.kt
@@ -4,7 +4,6 @@ import com.mogo.cloud.passport.MoGoAiCloudClientConfig
 import com.mogo.eagle.core.data.BaseData
 import com.mogo.och.taxi.bean.ArriveSiteReqBean
 import com.mogo.och.taxi.bean.CancelOrderReqBean
-import com.mogo.och.taxi.bean.ContrailListReqBean
 import com.mogo.och.taxi.bean.ContrailListRespBean
 import com.mogo.och.taxi.bean.JumpPassengerCheckReqBean
 import com.mogo.och.taxi.bean.OrderCompletedReqBean
@@ -128,7 +127,7 @@ interface UnmannedTaskServiceApi {
     fun contrailList(
         @Header("appId") appId: String = MoGoAiCloudClientConfig.getInstance().serviceAppId,
         @Header("ticket") ticket: String = MoGoAiCloudClientConfig.getInstance().token,
-        @Body data: ContrailListReqBean?
+        @Body data: Array<Long>
     ): Observable<ContrailListRespBean>
 
     /**
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiOperationalPresenter.java b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiOperationalPresenter.java
index 01f985a9db..d60b2a876b 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiOperationalPresenter.java
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiOperationalPresenter.java
@@ -15,21 +15,11 @@ public class TaxiOperationalPresenter extends Presenter<TaxiPersonalDialogFragme
         implements ITaxiCarOperationalCallback {
     public TaxiOperationalPresenter(TaxiPersonalDialogFragment view) {
         super(view);
-        initListener();
-    }
-
-    private void initListener() {
-       TaxiModel.INSTANCE.setCarStatusCallback(this);
-    }
-
-    private void releaseListener(){
-        TaxiModel.INSTANCE.setCarStatusCallback(null);
     }
 
     @Override
     public void onDestroy(@NonNull LifecycleOwner owner) {
         super.onDestroy(owner);
-        releaseListener();
     }
 
     // 获取全部订单列表
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index 591fb3c080..8c69e52120 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -15,10 +15,8 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
-import com.mogo.och.common.module.biz.constant.LoginStatusManager;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.taxi.callback.ITaxiADASStatusCallback;
-import com.mogo.och.taxi.callback.ITaxiCarOperationalCallback;
 import com.mogo.och.taxi.callback.ITaxiControllerStatusCallback;
 import com.mogo.och.taxi.callback.ITaxiOrderStatusCallback;
 import com.mogo.och.taxi.constant.TaxiUnmannedConst;
@@ -35,7 +33,7 @@ import com.mogo.och.taxi.ui.TaxiFragment;
  * 描述
  */
 public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASStatusCallback,
-        ITaxiOrderStatusCallback, ITaxiControllerStatusCallback, ILoginCallback, ITaxiCarOperationalCallback {
+        ITaxiOrderStatusCallback, ITaxiControllerStatusCallback, ILoginCallback {
 
     private static final String TAG = TaxiPresenter.class.getSimpleName();
 
@@ -65,7 +63,6 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     private void initListeners() {
         TaxiModel.INSTANCE.setADASStatusCallback(this);
         TaxiModel.INSTANCE.setControllerStatusCallback(this);
-        TaxiModel.INSTANCE.setCarStatusCallback(this);
         TaxiModel.INSTANCE.setOrderStatusCallback(this);
     }
 
@@ -185,6 +182,14 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         });
     }
 
+    @Override
+    public void startOpenAutopilotNonManual() {
+        runOnUIThread(() -> {
+            mView.startOrStopLoadingAnim(true);
+            mView.showStartAutopilotBlinkAnimation();
+        });
+    }
+
     @Override
     public void loginSuccess(DriverStatusQueryRespBean data) {
         //设置 接单状态
@@ -211,9 +216,4 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     public void loginFail(boolean isLogin) {
 
     }
-
-    @Override
-    public void onServiceDataUpdate(long dailyTimeDuration, long dailyOrderNum) {
-
-    }
 }
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiBeingTaskFragment.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiBeingTaskFragment.kt
index 53ce1ed42f..d8a462e25a 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiBeingTaskFragment.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiBeingTaskFragment.kt
@@ -148,11 +148,12 @@ class TaxiBeingTaskFragment : BaseFragment(),
     @RequiresApi(Build.VERSION_CODES.N)
     private fun updateOrderTotalMilAndDur(mileage: Float, duration: Int) {
         val strHtml2 =
-            ("<font color=\"#CAD6FF\">里程 </font>" + "<font color=\"#FFFFFF\"> $mileage </font>" + "<font color=\"#CAD6FF\"> 公里 </font>"
-                    + "<font color=\"#CAD6FF\">，剩余 </font>" + "<font color=\"#FFFFFF\"> $duration </font>" + "<font color=\"#CAD6FF\"> 分钟</font>")
+            ("<font color=\"#CAD6FF\">总里程 </font>" + "<font color=\"#FFFFFF\"> $mileage </font>" + "<font color=\"#CAD6FF\"> 公里 </font>"
+                    + "<font color=\"#CAD6FF\">，总用时 </font>" + "<font color=\"#FFFFFF\"> $duration </font>" + "<font color=\"#CAD6FF\"> 分钟</font>")
         taskOtherInfo.text = Html.fromHtml(strHtml2,Html.FROM_HTML_MODE_LEGACY)
     }
 
+    @RequiresApi(Build.VERSION_CODES.N)
     private fun updateReserveOrderChanged(taskAndOrder: QueryCurrentTaskRespBean.Result?) {
         mTaxiFragment?.let {
             it.updateReserveOrderChanged(taskAndOrder)
@@ -187,6 +188,7 @@ class TaxiBeingTaskFragment : BaseFragment(),
     private fun updateUntruthTaskView() {
         taskStatus.visibility  = View.VISIBLE
         taskTypeTv.visibility = View.GONE
+        cancelOrder.visibility = View.GONE
         orderPhoneAndNum.visibility = View.GONE
         startStationName.visibility = View.VISIBLE
         endStationName.visibility = View.VISIBLE
@@ -240,7 +242,7 @@ class TaxiBeingTaskFragment : BaseFragment(),
         }
 
         if (taskAndOrder.currentStatus == TaskStatusEnum.CompleteTask.code
-            && taskAndOrder.order == null && taskAndOrder.endSite == null){
+            && taskAndOrder.order == null){
             isHaveBeingOrder(false)
             return
         }
@@ -262,7 +264,12 @@ class TaxiBeingTaskFragment : BaseFragment(),
 
         when (taskType) {
             TaskTypeEnum.VirtualTask.code -> {// 演练任务
+                if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code){
+                    updateOrderUI(order)
+                    return
+                }
                 if (startSite == null || endSite == null) return
+
                 taskStatus.text = resources.getString(R.string.task_start_end_site)
                 taskTypeTv.background = resources.getDrawable(R.drawable.task_unreal_type_btn_bg,null)
                 taskTypeTv.text = resources.getString(R.string.task_exercise)
@@ -271,15 +278,13 @@ class TaxiBeingTaskFragment : BaseFragment(),
             }
             TaskTypeEnum.ToOrderEndTask.code,TaskTypeEnum.ToOrderStartTask.code -> {// 送驾/接驾任务任务
                 if (order == null) return
-                taskTypeTv.text = resources.getString(R.string.task_order)
-                taskTypeTv.background = resources.getDrawable(R.drawable.task_order_type_btn_bg,null)
-                orderPhoneAndNum.text = Html.fromHtml("${order.bookingUserPhone} " +
-                        "<font color=\"#33FFFFFF\"> | </font> " +
-                        "${order.passengerSize}人",Html.FROM_HTML_MODE_LEGACY)
-                startStationName.text = order.orderStartSite?.siteName
-                endStationName.text = order.orderEndSite?.siteName
                 updateOrderUI(order)
             }
+            TaskTypeEnum.None.code -> {
+                if (order != null){
+                    updateOrderUI(order)
+                }
+            }
         }
 
         updateRemainDistanceAndTime(false)
@@ -288,6 +293,14 @@ class TaxiBeingTaskFragment : BaseFragment(),
     @RequiresApi(Build.VERSION_CODES.N)
     private fun updateOrderUI(order: OrderDetail) {
 
+        taskTypeTv.text = resources.getString(R.string.task_order)
+        taskTypeTv.background = resources.getDrawable(R.drawable.task_order_type_btn_bg,null)
+        orderPhoneAndNum.text = Html.fromHtml("<font color=\"#FFFFFF\"> " + order.bookingUserPhone + "</font>" +
+                "<font color=\"#33FFFFFF\"> | </font>" +
+                "<font color=\"#FFFFFF\">" + order.passengerSize + "人" + "</font>",Html.FROM_HTML_MODE_LEGACY)
+        startStationName.text = order.orderStartSite?.siteName
+        endStationName.text = order.orderEndSite?.siteName
+
         when(order.orderStatus){
 
             TaxiOrderStatusEnum.None.code -> { //无
@@ -462,33 +475,45 @@ class TaxiBeingTaskFragment : BaseFragment(),
 
     private fun updateUIShowStatus(taskType: Int, currentStatus: Int, order: OrderDetail?) {
         when (taskType) {
+            TaskTypeEnum.None.code ->{
+                if (order != null && currentStatus == TaskStatusEnum.CompleteTask.code){
+                    handleOrderView(order)
+                }
+            }
             TaskTypeEnum.VirtualTask.code -> { //演练任务
                 cancelOrder.visibility = View.GONE
                 orderPhoneAndNum.visibility = View.GONE
                 taskClickBtn.visibility = View.GONE
 //                currentStatus 0：空闲  1:获取任务 2:开始任务 3:到达目的地
                 naviToStart.visibility = View.GONE
+                taskTypeTv.visibility = View.VISIBLE
                 naviToEnd.visibility = if (currentStatus >= TaskStatusEnum.StartTask.code) View.VISIBLE else View.GONE
                 taskOtherInfo.visibility = if (currentStatus == TaskStatusEnum.GetTask.code) View.GONE else View.VISIBLE
             }
             TaskTypeEnum.ToOrderEndTask.code,TaskTypeEnum.ToOrderStartTask.code -> {// 运营单(接驾任务、送驾任务)
                 if (order == null) return
-                cancelOrder.visibility = View.VISIBLE
-                orderPhoneAndNum.visibility = View.VISIBLE
-                taskClickBtn.visibility = View.VISIBLE
-//                orderStatus: 0 订单创建（为派单）, 10 已派上司机（司机去往上车点）, 20 司机到达上车点,
-//                30 乘客到达上车点, 40 服务中（去往目的地）, 50 到达目的地, 60 已完成, 70 已取消
-                naviToStart.visibility = if (order.orderStatus
-                    == TaxiOrderStatusEnum.OnTheWayToStart.code) View.VISIBLE else View.GONE
-
-                naviToEnd.visibility = if (order.orderStatus
-                    == TaxiOrderStatusEnum.OnTheWayToEnd.code) View.VISIBLE else View.GONE
-
-                taskOtherInfo.visibility = View.VISIBLE
+                handleOrderView(order)
             }
         }
     }
 
+    private fun handleOrderView(order: OrderDetail?) {
+        if (order == null) return
+        cancelOrder.visibility = View.VISIBLE
+        orderPhoneAndNum.visibility = View.VISIBLE
+        taskClickBtn.visibility = View.VISIBLE
+        taskTypeTv.visibility = View.VISIBLE
+//                orderStatus: 0 订单创建（为派单）, 10 已派上司机（司机去往上车点）, 20 司机到达上车点,
+//                30 乘客到达上车点, 40 服务中（去往目的地）, 50 到达目的地, 60 已完成, 70 已取消
+        naviToStart.visibility = if (order.orderStatus
+            == TaxiOrderStatusEnum.OnTheWayToStart.code) View.VISIBLE else View.GONE
+
+        naviToEnd.visibility = if (order.orderStatus
+            == TaxiOrderStatusEnum.OnTheWayToEnd.code) View.VISIBLE else View.GONE
+
+        taskOtherInfo.visibility = View.VISIBLE
+    }
+
 
     private fun hideNavi() {
         naviToStart.visibility = View.GONE
@@ -655,8 +680,8 @@ class TaxiBeingTaskFragment : BaseFragment(),
         } else if (v.id == cancelOrder.id) {
             if (mCurrentTaskAndOrder!!.order != null){
                 TaxiOrderCancelDialog(mActivity,mCurrentTaskAndOrder!!.order!!.orderStatus
-                ) { type, reason ->
-                    mViewModel.sendUiIntent(UnmannedIntent.CancelOrder(type,reason))
+                ) {
+                    mViewModel.sendUiIntent(UnmannedIntent.CancelOrder(it))
                 }
                     .show()
             }
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.kt
index 1f8982f9f5..060cdd644d 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.kt
@@ -11,6 +11,7 @@ import android.widget.TextView
 import androidx.annotation.RequiresApi
 import androidx.fragment.app.FragmentTransaction
 import com.alibaba.android.arouter.launcher.ARouter
+import com.elegant.network.utils.GsonUtil
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.data.temp.EventLogout
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
@@ -27,6 +28,12 @@ import com.mogo.och.taxi.presenter.TaxiPresenter
 import com.mogo.och.taxi.utils.TPRouteDataTestUtils
 import kotlinx.android.synthetic.main.taxi_base_fragment.module_mogo_och_operation_status
 import kotlinx.android.synthetic.main.taxi_base_fragment.taxi_driver_role_tv
+import kotlinx.android.synthetic.main.taxi_panel.orderInfo
+import kotlinx.android.synthetic.main.taxi_panel.orderToStartLines
+import kotlinx.android.synthetic.main.taxi_panel.taskEndSite
+import kotlinx.android.synthetic.main.taxi_panel.taskStartSite
+import kotlinx.android.synthetic.main.taxi_panel.taskStatus2
+import kotlinx.android.synthetic.main.taxi_panel.taskType2
 import org.greenrobot.eventbus.EventBus
 import org.greenrobot.eventbus.Subscribe
 import org.greenrobot.eventbus.ThreadMode
@@ -111,6 +118,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
         serverOrdersFragmentWR!!.get()!!.onChangeOperationStatus()
     }
 
+    @RequiresApi(Build.VERSION_CODES.N)
     fun updateReserveOrderChanged(taskAndOrder: QueryCurrentTaskRespBean.Result?){
         if (null == serverOrdersFragmentWR || serverOrdersFragmentWR!!.get() == null) return
         serverOrdersFragmentWR!!.get()!!.updateOrderChanged(taskAndOrder)
@@ -198,9 +206,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
         findViewById<View>(R.id.test_bar_to_virtual)?.setOnClickListener{
             TaxiModel.setArriveAtUntruthStation()
         }
-        findViewById<View>(R.id.test_bar_to_start)?.setOnClickListener {
-            TaxiModel.setArriveAtStartStation()
-        }
+
         findViewById<View>(R.id.test_bar_to_end)?.setOnClickListener {
             TaxiModel.setArriveAtEndStation()
         }
@@ -276,35 +282,32 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
             testBar!!.visibility = View.GONE
         } else {
             val result = TaxiModel.getCurTaskAndOrder()
-            val task = result?.endSite
             val order = result?.order
-            testCurOrderId!!.text = ":" + (order?.orderNo ?: "")
-            testCurLineId!!.text = "lineId:" + (result?.lineId.toString() ?: "")
-//            testCurTrajMd5!!.text = "TMd5:" + if (order == null) "" else order.csvFileMd5
-//            testCurStopMd5!!.text = "SMd5:" + if (order == null) "" else order.txtFileMd5
-//            testCurTrajMd5DPQP!!.text =
-//                "TMd5DPQP:" + if (order == null) "" else order.csvFileMd5DPQP
-//            testCurStopMd5DPQP!!.text =
-//                "SMd5DPQP:" + if (order == null) "" else order.txtFileMd5DPQP
+            testCurOrderId!!.text = "orderNo: " + order?.orderNo
+            testCurLineId!!.text = "当前任务lineId: " + result?.lineId
+            taskType2.text = "当前任务类型: " +  result?.taskType
+            taskStatus2.text = "任务状态: "+ result?.currentStatus
+            taskStartSite.text = "任务开始站点: "+ result?.startSite?.siteName +
+                    ", siteId: " + result?.startSite?.siteId
+            taskEndSite.text = "任务结束站点: "+ result?.endSite?.siteName +
+                    ", siteId: " + result?.endSite?.siteId
+
+            orderInfo.text = "订单信息: 开始: " + order?.orderStartSite?.siteName + ", 结束: "+
+                    order?.orderEndSite?.siteName + ", orderStatus: "+ order?.orderStatus
+
+            orderToStartLines.text = "接驾任务的lineId集合: " + GsonUtil.jsonFromObject(order?.planningLines)
+
+            val  curContrail = TaxiModel.getCurTaskContrail()
+            testCurTrajMd5!!.text = "TMd5:" + curContrail?.csvFileMd5
+            testCurStopMd5!!.text = "SMd5:" + curContrail?.txtFileMd5
+            testCurTrajMd5DPQP!!.text =
+                "TMd5DPQP:" + curContrail?.csvFileMd5DPQP
+            testCurStopMd5DPQP!!.text =
+                "SMd5DPQP:" + curContrail?.txtFileMd5DPQP
             testBar!!.visibility = View.VISIBLE
         }
     }
 
-    @SuppressLint("SetTextI18n")
-    private fun updateTaxiTestBarInfo() {
-//        if (testBar != null && testBar!!.visibility == View.VISIBLE) {
-//            val order = TaxiModel.getCurrentOrder()
-//            testCurOrderId!!.text = "orderNo:" + (order?.orderNo?.toString() ?: "")
-//            testCurLineId!!.text = "lineId:" + (order?.lineId?.toString() ?: "")
-//            testCurTrajMd5!!.text = "TMd5:" + if (order == null) "" else order.csvFileMd5
-//            testCurStopMd5!!.text = "SMd5:" + if (order == null) "" else order.txtFileMd5
-//            testCurTrajMd5DPQP!!.text =
-//                "TMd5DPQP:" + if (order == null) "" else order.csvFileMd5DPQP
-//            testCurStopMd5DPQP!!.text =
-//                "SMd5DPQP:" + if (order == null) "" else order.txtFileMd5DPQP
-//        }
-    }
-
     companion object {
         const val TAG = "TaxiFragment"
         fun newInstance(): TaxiFragment {
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiOrderCancelDialog.java b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiOrderCancelDialog.java
index cb371f43a1..f4c9c07e9f 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiOrderCancelDialog.java
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiOrderCancelDialog.java
@@ -130,7 +130,7 @@ public class TaxiOrderCancelDialog extends AlertDialog implements View.OnClickLi
           if (!TextUtils.isEmpty(mCurrentReason) && TaxiOrderCancelReasons.getType(mCurrentReason) != 0) {
               //todo 取消正在执行的任务
               if (mCommitListener != null){
-                  mCommitListener.cancelCurOrder(TaxiOrderCancelReasons.getType(mCurrentReason),mCurrentReason);
+                  mCommitListener.cancelCurOrder(TaxiOrderCancelReasons.getType(mCurrentReason));
               }
               dismiss();
           }else {
@@ -150,7 +150,7 @@ public class TaxiOrderCancelDialog extends AlertDialog implements View.OnClickLi
     }
 
     interface CommitReasonListener{
-        void cancelCurOrder(int type, String reason);
+        void cancelCurOrder(int type);
     }
 
     class ContentAdapter extends BaseAdapter{
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiReserveOrderFragment.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiReserveOrderFragment.kt
index e18ee72723..c24b62bbe8 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiReserveOrderFragment.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiReserveOrderFragment.kt
@@ -5,8 +5,11 @@ import android.app.Activity
 import android.content.Context
 import android.graphics.Color
 import android.graphics.drawable.GradientDrawable
+import android.os.Build
 import android.os.Bundle
+import android.text.Html
 import android.view.View
+import androidx.annotation.RequiresApi
 import com.mogo.commons.mvp.BaseFragment
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.bean.OrderDetail
@@ -44,18 +47,26 @@ class TaxiReserveOrderFragment : BaseFragment() {
     }
 
     override fun initViews() {
+        showNoOrderView()
     }
 
+    @RequiresApi(Build.VERSION_CODES.N)
     fun updateOrderChanged(model: QueryCurrentTaskRespBean.Result?) {
-        if (model == null) return
-        if (model.order == null || model.taskType != TaskTypeEnum.ToOrderStartTask.code){
+        if (model?.order == null) {
             showNoOrderView()
             return
         }
-        val order = model.order
-        updateOrderUI(order!!)
+
+        if (model.taskType == TaskTypeEnum.VirtualTask.code){
+            val order = model.order
+            updateOrderUI(order!!)
+        }else{
+            showNoOrderView()
+        }
+
     }
 
+    @RequiresApi(Build.VERSION_CODES.N)
     @SuppressLint("SetTextI18n")
     private fun updateOrderUI(order: OrderDetail) {
         showOrderView()
@@ -63,7 +74,10 @@ class TaxiReserveOrderFragment : BaseFragment() {
         naviToStart.visibility = View.GONE
         naviToEnd.visibility = View.GONE
 
-        orderPhoneAndNum.text = "${order.bookingUserPhone} | ${order.passengerSize}人"
+        orderPhoneAndNum.text = Html.fromHtml("<font color=\"#FFFFFF\"> " + order.bookingUserPhone + "</font>" +
+                "<font color=\"#33FFFFFF\"> | </font>" +
+                "<font color=\"#FFFFFF\">" + order.passengerSize + "人" + "</font>",Html.FROM_HTML_MODE_LEGACY)
+
 
         order.orderStartSite?.let {
             startStationName.text = it.siteName
@@ -72,7 +86,6 @@ class TaxiReserveOrderFragment : BaseFragment() {
             endStationName.text = it.siteName
         }
 
-        taskStatus.text = resources.getString(R.string.waiting_server)
         taskTypeTv.text = resources.getString(R.string.task_order)
         taskTypeTv.background = resources.getDrawable(R.drawable.task_order_type_btn_bg,null)
 
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiServerOrdersFragment.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiServerOrdersFragment.kt
index 8ecad1cfe0..7e79ccdb8c 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiServerOrdersFragment.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/TaxiServerOrdersFragment.kt
@@ -169,6 +169,7 @@ class TaxiServerOrdersFragment : BaseFragment(){
         beingTaskFragment!!.onChangeOperationStatus()
     }
 
+    @RequiresApi(Build.VERSION_CODES.N)
     fun updateOrderChanged(model: QueryCurrentTaskRespBean.Result?){
         if (null == reserveOrdersFragment) return
         reserveOrdersFragment!!.updateOrderChanged(model)
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/unmanned/UnmannedIntent.kt b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/unmanned/UnmannedIntent.kt
index 43211d5bfb..56a0c08c24 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/unmanned/UnmannedIntent.kt
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/ui/unmanned/UnmannedIntent.kt
@@ -14,7 +14,7 @@ sealed class UnmannedIntent: IUiIntent{
     object StartTaskOrOrderLooper : UnmannedIntent()
 
     //取消订单
-    class CancelOrder(type: Int, reason: String) : UnmannedIntent()
+    class CancelOrder(val type: Int) : UnmannedIntent()
 
     object StartTask: UnmannedIntent()
 
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
index d010e94bb0..8845d37e68 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
@@ -32,6 +32,11 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAX
 public class TaxiTrajectoryManager {
     private static final String TAG = TaxiTrajectoryManager.class.getSimpleName();
 
+    //载类型: 0:正常下载 1:预下载
+    private static final int COMMON_LOADING = 0;
+    private static final int PRE_LOADING = 1;
+
+
     private static final class SingletonHolder {
         private static final TaxiTrajectoryManager INSTANCE = new TaxiTrajectoryManager();
     }
@@ -40,7 +45,11 @@ public class TaxiTrajectoryManager {
         return SingletonHolder.INSTANCE;
     }
 
+    //正常加载的路线
     private AutopilotControlParameters.AutoPilotLine mAutoPilotLine = null;
+    //预加载的路线
+    private AutopilotControlParameters.AutoPilotLine mPreAutoPilotLine = null;
+
     private Disposable mSendReqDisposable = null;
     private String mPrevTaskLineId = "";
 
@@ -48,6 +57,10 @@ public class TaxiTrajectoryManager {
         mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "",
                 "", "", "", "", 0, "",
                 "", "", "", "", 0);
+
+        mPreAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(-1, "",
+                "", "", "", "", 0, "",
+                "", "", "", "", 0);
     }
 
     /**
@@ -124,17 +137,6 @@ public class TaxiTrajectoryManager {
             final OrderDetail orderDetail = taskAndOrder.getOrder();
             ContrailListRespBean.Result preloadContrail = null; //预加载的轨迹
 
-            if (orderDetail != null && orderContrails != null && orderContrails.size() != 0 ){
-                if (orderContrails.contains(curLineId)){ //预加载轨迹是curLineId索引的下一个
-                    int index = orderContrails.indexOf(curLineId);
-                    if (orderContrails.size()-1 >= index){
-                        preloadContrail = orderContrails.get(index);
-                    }
-                }else {//预加载轨迹直接是集合第一个
-                    preloadContrail = orderContrails.get(0);
-                }
-            }
-
             if (mAutoPilotLine == null) {
                 mAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(curTaskContrail.getLineId(), curTaskContrail.getLineName(),
                         curTaskContrail.getCsvFileUrl(), curTaskContrail.getCsvFileMd5(), curTaskContrail.getTxtFileUrl(),
@@ -156,24 +158,76 @@ public class TaxiTrajectoryManager {
                 mAutoPilotLine.setStopMd5_dpqp(curTaskContrail.getTxtFileMd5DPQP());
                 mAutoPilotLine.setTimestamp_dpqp(curTaskContrail.getContrailSaveTimeDPQP());
             }
+
+            if (orderDetail != null && orderContrails != null && orderContrails.size() != 0 ){
+                if (orderContrails.contains(curLineId)){ //预加载轨迹是curLineId索引的下一个
+                    int index = orderContrails.indexOf(curLineId);
+                    if (orderContrails.size()-1 >= index){
+                        preloadContrail = orderContrails.get(index);
+                    }
+                }else {//预加载轨迹直接是集合第一个
+                    preloadContrail = orderContrails.get(0);
+                }
+            }
+
+            if (preloadContrail == null) return;
+
+            if (mPreAutoPilotLine == null) {
+                mPreAutoPilotLine = new AutopilotControlParameters.AutoPilotLine(preloadContrail.getLineId(), preloadContrail.getLineName(),
+                        preloadContrail.getCsvFileUrl(), preloadContrail.getCsvFileMd5(), preloadContrail.getTxtFileUrl(),
+                        preloadContrail.getTxtFileMd5(), preloadContrail.getContrailSaveTime(), "",//todo curTaskContrail.getCarModel()
+                        preloadContrail.getCsvFileUrlDPQP(), preloadContrail.getCsvFileMd5DPQP(), preloadContrail.getTxtFileUrlDPQP(),
+                        preloadContrail.getTxtFileMd5DPQP(), preloadContrail.getContrailSaveTimeDPQP());
+            } else {
+                mPreAutoPilotLine.setLineId(taskAndOrder.getLineId());
+                mPreAutoPilotLine.setLineName(preloadContrail.getLineName());
+                mPreAutoPilotLine.setTrajUrl(preloadContrail.getCsvFileUrl());
+                mPreAutoPilotLine.setTrajMd5(preloadContrail.getCsvFileMd5());
+                mPreAutoPilotLine.setStopUrl(preloadContrail.getTxtFileUrl());
+                mPreAutoPilotLine.setStopMd5(preloadContrail.getTxtFileMd5());
+                mPreAutoPilotLine.setTimestamp(preloadContrail.getContrailSaveTime());
+                mPreAutoPilotLine.setVehicleModel("");// todo curTaskContrail.getCarModel()
+                mPreAutoPilotLine.setTrajUrl_dpqp(preloadContrail.getCsvFileUrlDPQP());
+                mPreAutoPilotLine.setTrajMd5_dpqp(preloadContrail.getCsvFileMd5DPQP());
+                mPreAutoPilotLine.setStopUrl_dpqp(preloadContrail.getTxtFileUrlDPQP());
+                mPreAutoPilotLine.setStopMd5_dpqp(preloadContrail.getTxtFileMd5DPQP());
+                mPreAutoPilotLine.setTimestamp_dpqp(preloadContrail.getContrailSaveTimeDPQP());
+            }
         }
     }
 
     private void clearAutoPilotLine() {
-        if (mAutoPilotLine == null) return;
-        mAutoPilotLine.setLineId(-1);
-        mAutoPilotLine.setLineName("");
-        mAutoPilotLine.setTrajUrl("");
-        mAutoPilotLine.setTrajMd5("");
-        mAutoPilotLine.setStopUrl("");
-        mAutoPilotLine.setStopMd5("");
-        mAutoPilotLine.setTimestamp(0);
-        mAutoPilotLine.setVehicleModel("");
-        mAutoPilotLine.setTrajUrl_dpqp("");
-        mAutoPilotLine.setTrajMd5_dpqp("");
-        mAutoPilotLine.setStopUrl_dpqp("");
-        mAutoPilotLine.setStopMd5_dpqp("");
-        mAutoPilotLine.setTimestamp_dpqp(0);
+        if (mAutoPilotLine != null){
+            mAutoPilotLine.setLineId(-1);
+            mAutoPilotLine.setLineName("");
+            mAutoPilotLine.setTrajUrl("");
+            mAutoPilotLine.setTrajMd5("");
+            mAutoPilotLine.setStopUrl("");
+            mAutoPilotLine.setStopMd5("");
+            mAutoPilotLine.setTimestamp(0);
+            mAutoPilotLine.setVehicleModel("");
+            mAutoPilotLine.setTrajUrl_dpqp("");
+            mAutoPilotLine.setTrajMd5_dpqp("");
+            mAutoPilotLine.setStopUrl_dpqp("");
+            mAutoPilotLine.setStopMd5_dpqp("");
+            mAutoPilotLine.setTimestamp_dpqp(0);
+        }
+
+        if (mPreAutoPilotLine != null){
+            mPreAutoPilotLine.setLineId(-1);
+            mPreAutoPilotLine.setLineName("");
+            mPreAutoPilotLine.setTrajUrl("");
+            mPreAutoPilotLine.setTrajMd5("");
+            mPreAutoPilotLine.setStopUrl("");
+            mPreAutoPilotLine.setStopMd5("");
+            mPreAutoPilotLine.setTimestamp(0);
+            mPreAutoPilotLine.setVehicleModel("");
+            mPreAutoPilotLine.setTrajUrl_dpqp("");
+            mPreAutoPilotLine.setTrajMd5_dpqp("");
+            mPreAutoPilotLine.setStopUrl_dpqp("");
+            mPreAutoPilotLine.setStopMd5_dpqp("");
+            mPreAutoPilotLine.setTimestamp_dpqp(0);
+        }
     }
 
     private void startTrajReqLoop() {
@@ -208,13 +262,19 @@ public class TaxiTrajectoryManager {
     }
 
     private void sendTrajectoryReq() {
-        if (mAutoPilotLine == null) {
+        if (mAutoPilotLine != null) {
+            CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine,COMMON_LOADING);
+        }else {
             CallerLogger.INSTANCE.e(M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
-            return;
         }
 
-        CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine);
-        CallerLogger.INSTANCE.d(M_TAXI + TAG, "sendTrajectoryReq(): "
-                + GsonUtils.toJson(mAutoPilotLine));
+        if (mPreAutoPilotLine != null){
+            CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine,PRE_LOADING);
+        }else {
+            CallerLogger.INSTANCE.e(M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!");
+
+        }
+        CallerLogger.INSTANCE.d(M_TAXI + TAG, "sendTrajectoryReq(): common_load = "
+                + GsonUtils.toJson(mAutoPilotLine) + "pre_load" + GsonUtils.toJson(mPreAutoPilotLine));
     }
 }
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_base_fragment.xml b/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_base_fragment.xml
index 7eee534d3c..eee53a8c73 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_base_fragment.xml
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_base_fragment.xml
@@ -91,8 +91,9 @@
 
     </RelativeLayout>
 
-    <!--V2X预警红色边框-->
-    <com.mogo.eagle.core.function.hmi.ui.widget.V2XWarningView
+    <!--自动启动自驾闪烁上边框-->
+    <com.mogo.och.common.module.wigets.StartAutopilotAnimationView
+        android:id="@+id/startAutopilotAnimationView"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
         app:layout_constraintBottom_toBottomOf="parent"
diff --git a/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_panel.xml b/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_panel.xml
index a8dd1b58d0..1fab3da2d9 100644
--- a/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_panel.xml
+++ b/OCH/taxi/mogo-och-taxi-unmanned/src/main/res/layout/taxi_panel.xml
@@ -38,6 +38,48 @@
             android:textColor="@android:color/white"
             android:textSize="@dimen/dp_24" />
 
+        <TextView
+            android:id="@+id/taskType2"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_24" />
+
+        <TextView
+            android:id="@+id/taskStatus2"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_24" />
+
+        <TextView
+            android:id="@+id/taskStartSite"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_24" />
+
+        <TextView
+            android:id="@+id/taskEndSite"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_24" />
+
+        <TextView
+            android:id="@+id/orderInfo"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_24" />
+
+        <TextView
+            android:id="@+id/orderToStartLines"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_24" />
+
         <TextView
             android:id="@+id/test_bar_current_traj_md5"
             android:layout_width="wrap_content"
@@ -73,13 +115,6 @@
             android:text="到达标定站点"
             android:textSize="@dimen/dp_24" />
 
-        <Button
-            android:id="@+id/test_bar_to_start"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="到达起点"
-            android:textSize="@dimen/dp_24" />
-
         <Button
             android:id="@+id/test_bar_start_service_confirm"
             android:layout_width="wrap_content"
@@ -98,7 +133,7 @@
             android:id="@+id/test_bar_to_end"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:text="到达终点"
+            android:text="到达站点"
             android:textSize="@dimen/dp_24" />
 
         <Button