diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 3704c2ffec..ac1da819b8 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -11,12 +11,14 @@ import com.mogo.eagle.core.data.config.HmiBuildConfig
 import com.mogo.eagle.core.data.deva.bizconfig.FuncBizConfig
 import com.mogo.eagle.core.data.multidisplay.TelematicConstant
 import com.mogo.eagle.core.data.obu.MogoObuConst
+import com.mogo.eagle.core.function.api.autopilot.IMoGoGetParamResponseListener
 import com.mogo.eagle.core.function.api.devatools.IMoGoDevaToolsFuncConfigListener
 import com.mogo.eagle.core.function.api.devatools.mofang.*
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_DEMO
 import com.mogo.eagle.core.function.api.hmi.view.IViewControlListener.Companion.FUNC_MODE_RAIN
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotGetParamResponseDispatcher
 import com.mogo.eagle.core.function.call.devatools.*
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
@@ -25,11 +27,13 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
-import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
-import com.mogo.eagle.core.function.hmi.ui.widget.DemoModeView
+import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.zhjt.mogo.adas.data.AdasConstants
+import com.zhjt.mogo.adas.data.bean.AdasParam
 import kotlinx.android.synthetic.main.view_sop_setting.view.*
 import kotlinx.android.synthetic.main.view_sop_setting.view.tbRouteDynamicEffect
+import mogo.telematics.pad.MessagePad
 
 /**
  * SOP设置窗口
@@ -39,7 +43,8 @@ internal class SOPSettingView @JvmOverloads constructor(
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoDevaToolsFuncConfigListener,
-    IViewControlListener, IMoGoMoFangProvider.OnMoFangStatusListener {
+    IViewControlListener, IMoGoMoFangProvider.OnMoFangStatusListener,
+    IMoGoGetParamResponseListener {
 
     companion object {
         const val TAG = "SOPSettingView"
@@ -277,6 +282,33 @@ internal class SOPSettingView @JvmOverloads constructor(
             FunctionBuildConfig.isShowBagRecordWindow = isChecked
             hmiAction("SOP 是否展示被动触发的录包弹窗, ",isChecked)
         }
+        //融合模式
+        rgFusionMode.setOnCheckedChangeListener { _, p1 ->
+            when(p1){
+                //全融合模式
+                R.id.rbFullIntegration ->{
+                    FunctionBuildConfig.fusionMode = 1
+                }
+                //盲区模式
+                R.id.rbBlind ->{
+                    FunctionBuildConfig.fusionMode = 2
+                }
+                //超视距模式
+                R.id.rbBeyondSight ->{
+                    FunctionBuildConfig.fusionMode = 3
+                }
+                //透传模式
+                R.id.rbTransparent ->{
+                    FunctionBuildConfig.fusionMode = 4
+                }
+                //纯路侧模式
+                R.id.rbPureRoad ->{
+                    FunctionBuildConfig.fusionMode = 5
+                }
+            }
+            CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
+        }
+
 
         //变道绕障的目标障碍物速度阈值
         tvSpeed.text = "${FunctionBuildConfig.detouringSpeed} m/s"
@@ -370,8 +402,9 @@ internal class SOPSettingView @JvmOverloads constructor(
             FuncBizConfig.FOUNDATION, TAG, true, this
         )
         CallerHmiViewControlListenerManager.addListener(TAG,this)
-        // 开启定时查询速度
-//        Timer().schedule(timerTaskRefresh, Date(), 500)
+        CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
+        //查询融合模式
+        CallerAutoPilotControlManager.sendGetParamReq(AdasConstants.MapSystemParamType.FUSION_MODE)
     }
 
     override fun updateFuncMode(tag: String, boolean: Boolean) {
@@ -389,12 +422,7 @@ internal class SOPSettingView @JvmOverloads constructor(
         // 移除 业务配置监听
         CallerDevaToolsFuncConfigListenerManager.unRegisterDevaToolsFuncConfigListener(FuncBizConfig.FOUNDATION, TAG)
         CallerHmiViewControlListenerManager.removeListener(TAG)
-//        try {
-//            timerTaskRefresh.cancel()
-//        } catch (e: Exception) {
-//            e.printStackTrace()
-//        }
-
+        CallerAutopilotGetParamResponseDispatcher.removeListener(TAG)
         CallerDevaToolsManager.mofang()?.unRegisterMoFangStatusListener(this)
     }
 
@@ -465,4 +493,40 @@ internal class SOPSettingView @JvmOverloads constructor(
     override fun onMoFangCombineClicked(vararg keyCodes: Int) {}
 
     override fun onMoFangStatusError(msg: String) {}
+
+    /**
+     * 工控机配置参数获取
+     */
+    override fun onGetParamResp(
+        header: MessagePad.Header,
+        getParamResp: MessagePad.SetParamReq,
+        adasParam: AdasParam
+    ) {
+        //融合模式
+        ThreadUtils.runOnUiThread {
+            FunctionBuildConfig.fusionMode = adasParam.fusionMode
+            when(FunctionBuildConfig.fusionMode){
+                1->{
+                    //全融合模式
+                    rgFusionMode.check(R.id.rbFullIntegration)
+                }
+                2->{
+                    //盲区模式
+                    rgFusionMode.check(R.id.rbBlind)
+                }
+                3->{
+                    //超视距模式
+                    rgFusionMode.check(R.id.rbBeyondSight)
+                }
+                4->{
+                    //透传模式
+                    rgFusionMode.check(R.id.rbTransparent)
+                }
+                5->{
+                    //纯路侧模式
+                    rgFusionMode.check(R.id.rbPureRoad)
+                }
+            }
+        }
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
index d962fb88f4..0f7ffcb25a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
@@ -399,6 +399,7 @@
             />
 
         <androidx.appcompat.widget.LinearLayoutCompat
+            android:id="@+id/llMFLayout"
             android:layout_width="0dip"
             android:layout_height="wrap_content"
             app:layout_constraintTop_toBottomOf="@+id/tvSpeedThresholdTitle"
@@ -426,6 +427,65 @@
                 android:paddingBottom="25dp" />
         </androidx.appcompat.widget.LinearLayoutCompat>
 
+        <!--融合模式-->
+        <RadioGroup
+            android:id="@+id/rgFusionMode"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical"
+            app:layout_constraintLeft_toLeftOf="parent"
+            app:layout_constraintRight_toRightOf="parent"
+            app:layout_constraintTop_toBottomOf="@id/llMFLayout"
+            android:layout_marginStart="20dp"
+            >
+
+            <RadioButton
+                android:id="@+id/rbFullIntegration"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="全融合模式"
+                android:textSize="32dp"
+                android:layout_margin="10dp"
+                />
+
+            <RadioButton
+                android:id="@+id/rbBlind"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="盲区模式"
+                android:textSize="32dp"
+                android:layout_margin="10dp"
+                />
+
+            <RadioButton
+                android:id="@+id/rbBeyondSight"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="超视距模式"
+                android:textSize="32dp"
+                android:layout_margin="10dp"
+                />
+
+            <RadioButton
+                android:id="@+id/rbTransparent"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="透传模式"
+                android:textSize="32dp"
+                android:layout_margin="10dp"
+                />
+
+            <RadioButton
+                android:id="@+id/rbPureRoad"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="纯路侧模式"
+                android:textSize="32dp"
+                android:layout_margin="10dp"
+                />
+
+        </RadioGroup>
+
 
     </androidx.constraintlayout.widget.ConstraintLayout>
 
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index 483aff534c..c8342ec852 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -204,6 +204,14 @@ object FunctionBuildConfig {
     @JvmField
     var isShowBagRecordWindow = true
 
+    /**
+     * 融合模式(int) 1:全融合模式 2:盲区模式 3:超视距模式 4:透传模式 5:纯路侧模式，默认1
+     * /telematics/fusion/fusion_mode
+     */
+    @Volatile
+    @JvmField
+    var fusionMode = 1
+
     /**
      * 是否是V2N新链路(云->工控机->App)
      */