diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaBusView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaBusView.kt
index bca95db1dc..e635042c30 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaBusView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaBusView.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.hmi.ui.widget
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
 import androidx.appcompat.content.res.AppCompatResources
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.commons.module.status.MogoStatusManager
@@ -76,6 +77,14 @@ class RomaBusView @JvmOverloads constructor(
         }
     }
 
+    override fun mapRomaInRange(range: Boolean) {
+        if(range){
+            this.visibility = View.VISIBLE
+        } else {
+            this.visibility = View.GONE
+        }
+    }
+
     override fun romaStatus(status: Boolean) {
         ThreadUtils.runOnUiThread {
             click = true
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
index f3f0c46d7f..64f5094b21 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaPassengerView.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.hmi.ui.widget
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.commons.module.status.MogoStatusManager
 import com.mogo.eagle.core.function.api.map.roma.IMoGoRomaListener
@@ -67,6 +68,14 @@ class RomaPassengerView @JvmOverloads constructor(
         }
     }
 
+    override fun mapRomaInRange(range: Boolean) {
+        if(range){
+            this.visibility = View.VISIBLE
+        } else {
+            this.visibility = View.GONE
+        }
+    }
+
     override fun romaStatus(status: Boolean) {
         ThreadUtils.runOnUiThread {
             click = true
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaTaxiView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaTaxiView.kt
index 8ce301a8c1..254b47097d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaTaxiView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/RomaTaxiView.kt
@@ -3,6 +3,7 @@ package com.mogo.eagle.core.function.hmi.ui.widget
 import android.content.Context
 import android.util.AttributeSet
 import android.view.LayoutInflater
+import android.view.View
 import androidx.appcompat.content.res.AppCompatResources
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.commons.module.status.MogoStatusManager
@@ -76,6 +77,14 @@ class RomaTaxiView @JvmOverloads constructor(
         }
     }
 
+    override fun mapRomaInRange(range: Boolean) {
+        if(range){
+            this.visibility = View.VISIBLE
+        } else {
+            this.visibility = View.GONE
+        }
+    }
+
     override fun romaStatus(status: Boolean) {
         ThreadUtils.runOnUiThread {
             click = true
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
index 8be8ce69b7..170fbbe8b1 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -19,6 +19,7 @@ import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_RO
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_MAP_ERROR
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_MAP_READY_START
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_MAP_START
+import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_RANGE
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REQUEST
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REQUEST_DELAY
 import com.mogo.eagle.core.data.deva.chain.ChainConstant.Companion.CHAIN_CODE_ROMA_REQUEST_ERROR
@@ -33,6 +34,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapRomaListener
+import com.mogo.eagle.core.function.call.map.CallerMapRomaListener.invokeRomaViewStatus
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.map.CallerVisualAngleManager.updateLongSightLevel
 import com.mogo.eagle.core.function.utils.MapRomaTrace
@@ -179,10 +181,19 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
         MapIdentifySubscriber.instance.clearAiCloudRoma()
         // 主动关闭roma，回到中景视角
         if (manual) {
-            CallerMapUIServiceManager.getMapUIController()?.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
+            CallerMapUIServiceManager.getMapUIController()
+                ?.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
         }
     }
 
+    override fun mapRomaInRange(range: Boolean) {
+        MapRomaTrace.log("", CHAIN_CODE_ROMA_RANGE, TAG, mutableMapOf("range" to range))
+        if(FunctionBuildConfig.romaModeStyle == 1){
+            return
+        }
+        invokeRomaViewStatus(range)
+    }
+
     fun requestRangeOfIdentify(dataReceive: Boolean) {
         val gnss = CallerChassisLocationWGS84ListenerManager.getChassisLocationWGS84().gnssInfo
         // false，改变父节点信息
@@ -215,10 +226,17 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
                 )
                 if (dataReceive) {
                     // 请求地图开始漫游
-                    CallerMapUIServiceManager.getMapUIController()?.setRomaMode(FunctionBuildConfig.romaModeStyle)
-                }else{
+                    CallerMapUIServiceManager.getMapUIController()
+                        ?.setRomaMode(FunctionBuildConfig.romaModeStyle)
+                } else {
                     // 保底清除策略
-                    MapRomaTrace.log("",CHAIN_CODE_ROMA_REQUEST_DELAY,TAG,mutableMapOf("delay" to true),true)
+                    MapRomaTrace.log(
+                        "",
+                        CHAIN_CODE_ROMA_REQUEST_DELAY,
+                        TAG,
+                        mutableMapOf("delay" to true),
+                        true
+                    )
                     MapIdentifySubscriber.instance.clearAiCloudRoma()
                 }
             },
@@ -322,7 +340,7 @@ class AiCloudIdentifyDataManager : IMoGoPlanningRottingListener,
             if (it.wayPointsList != null && it.wayPointsList.size > 0) {
                 val roamList = ArrayList<LonLatPoint>()
                 it.wayPointsList.forEach { loc ->
-                    roamList.add(LonLatPoint(loc.longitude,loc.latitude))
+                    roamList.add(LonLatPoint(loc.longitude, loc.latitude))
                 }
                 updateRomaStyle(false, roamList)
             }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
index 5b88f85edd..b1c4251188 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
@@ -119,6 +119,7 @@ class ChainConstant {
         const val CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT = "CHAIN_CODE_EAGLE_START_AUTOPILOT_RESULT"
 
         // 漫游业务code
+        const val CHAIN_CODE_ROMA_RANGE = "CHAIN_CODE_ROMA_RANGE"
         const val CHAIN_CODE_ROMA_CLICK = "CHAIN_CODE_ROMA_CLICK"
         const val CHAIN_CODE_ROMA_CLOSE_CLICK = "CHAIN_CODE_ROMA_CLOSE_CLICK"
         const val CHAIN_CODE_ROMA_REQUEST = "CHAIN_CODE_ROMA_REQUEST"
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMoGoRomaListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMoGoRomaListener.kt
index a87065f809..e99aecd44c 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMoGoRomaListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/map/roma/IMoGoRomaListener.kt
@@ -2,11 +2,21 @@ package com.mogo.eagle.core.function.api.map.roma
 
 interface IMoGoRomaListener {
 
+    /**
+     * 是否在自由漫游范围内
+     */
+    fun mapRomaInRange(range:Boolean){}
+
     /**
      * 漫游地图状态回调
      */
     fun mapRomaStatus(status:Int, msg:String){}
 
+    /**
+     * 漫游按钮显示状态
+     */
+    fun romaViewStatus(status: Boolean){}
+
     /**
      * 漫游状态回调
      */
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRomaListener.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRomaListener.kt
index 06e194f6ac..9fb7217051 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRomaListener.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRomaListener.kt
@@ -2,17 +2,29 @@ package com.mogo.eagle.core.function.call.map
 
 import com.mogo.eagle.core.function.api.map.roma.IMoGoRomaListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import kotlin.properties.Delegates
 
 object CallerMapRomaListener : CallerBase<IMoGoRomaListener>() {
 
     private var roma = false
     private var romaStatus = -1
     private var romaMsg: String = ""
+    private var romaRange:Boolean = false
 
     override fun doSomeAfterAddListener(tag: String, listener: IMoGoRomaListener) {
         listener.romaStatus(roma)
     }
 
+    fun invokeMapRomaRange(romaRange: Boolean) {
+        if(romaRange!= this.romaRange){
+            this.romaRange = romaRange
+            M_LISTENERS.forEach {
+                val listener = it.value
+                listener.mapRomaInRange(romaRange)
+            }
+        }
+    }
+
     fun invokeMapRomaStatus(status: Int, msg: String) {
         romaStatus = status
         romaMsg = msg
@@ -22,6 +34,13 @@ object CallerMapRomaListener : CallerBase<IMoGoRomaListener>() {
         }
     }
 
+    fun invokeRomaViewStatus(range:Boolean){
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.romaViewStatus(range)
+        }
+    }
+
     fun invokeMapRoma(romaStatus: Boolean) {
         roma = romaStatus
         M_LISTENERS.forEach {
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
index d864def996..c3b5977c2a 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
@@ -17,6 +17,7 @@ import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager.invoke
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.invokeListenersOnRoadIdGet
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.invokeListenersOnStopLineGet
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.invokeRoadChange
+import com.mogo.eagle.core.function.call.map.CallerMapRomaListener.invokeMapRomaRange
 import com.mogo.eagle.core.function.call.map.CallerMapRomaListener.invokeMapRomaStatus
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
@@ -59,7 +60,7 @@ import kotlin.properties.Delegates
 class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIController,
     OnMapLoadedListener, OnCameraChangeListener, OnMapClickListener, OnMapTouchListener,
     OnMarkClickListener, OnMapStyleListener, OnMapViewVisualAngleChangeListener, OnRoadInfoListener,
-    ILog, OnRoamStatusListener {
+    ILog, OnRoamStatusListener, OnRoadSideFenceRegionListener {
 
     companion object {
         private const val TAG = "AMapViewWrapper"
@@ -122,6 +123,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         mMapView.setOnRoamStatusListener(this)
         mMapView.setOnMapViewVisualAngleChangeListener(this)
         mMapView.setOnRoadInfoListener(this, 1)
+        mMapView.setOnRoadSideFenceRegionListener(this,5000)
         registerLogListener(this, mMapView.getEventController())
         d(M_MAP + TAG, "initListeners - setOnMapStyleListener - view $mMapView")
     }
@@ -870,4 +872,12 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         }
     }
 
+    /**
+     * 判断当前位置是否在道路围栏区域内
+     * @param status 1: 在围栏内，0 不在围栏内
+     */
+    override fun isInRoadSideFenceRegion(status: Int) {
+        invokeMapRomaRange(status == 1)
+    }
+
 }
\ No newline at end of file