diff --git a/OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.kt b/OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.kt
index ef616aec9d..6ee7c9e974 100644
--- a/OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.kt
+++ b/OCH/bus/driver/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.kt
@@ -13,9 +13,13 @@ import com.mogo.commons.mvp.IView
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.mvp.Presenter
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.setting.ISeatPressureEventListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.isCanStartAutopilot
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendPlanningCmd
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendPlanningLineChangeCmd
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getState
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.attachAutopilotBeforeLaunchView
+import com.mogo.eagle.core.function.call.setting.CallerSeatPressureManager
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
@@ -32,8 +36,13 @@ import kotlinx.android.synthetic.main.bus_base_fragment.fl_speed
 import kotlinx.android.synthetic.main.bus_base_fragment.mapBizView
 import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_arrived_tv
 import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_autopilot_status
+import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_over_take
 import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_slide_panel
+import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_start
 import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_station_panel_container
+import kotlinx.android.synthetic.main.bus_base_fragment.module_mogo_och_stop
+import kotlinx.android.synthetic.main.bus_base_fragment.module_och_bus_seat_pressure
+import kotlinx.android.synthetic.main.bus_base_fragment.seatPressureSettingView
 import kotlinx.android.synthetic.main.bus_base_fragment.smallMapView
 import kotlinx.android.synthetic.main.bus_base_fragment.viewDriverMsgBoxBubble
 import kotlinx.android.synthetic.main.bus_base_fragment.viewDriverMsgBoxButton
@@ -48,7 +57,8 @@ import org.greenrobot.eventbus.EventBus
  *
  * @author tongchenfei
  */
-abstract class BaseBusTabFragment<V : IView?, P : Presenter<V>?> : MvpFragment<V, P>() {
+abstract class BaseBusTabFragment<V : IView?, P : Presenter<V>?> : MvpFragment<V, P>(),
+    ISeatPressureEventListener {
 
     //启动自驾动画
     private var autopilotLoadingAnimator: ObjectAnimator? = null
@@ -100,6 +110,25 @@ abstract class BaseBusTabFragment<V : IView?, P : Presenter<V>?> : MvpFragment<V
             }
 
         })
+
+        module_mogo_och_stop.setOnClickListener {
+            sendPlanningCmd(1)
+        }
+        module_mogo_och_start.setOnClickListener {
+            sendPlanningCmd(2)
+        }
+        module_mogo_och_over_take.setOnClickListener {
+            sendPlanningLineChangeCmd(3)
+        }
+        //座椅压力
+        module_och_bus_seat_pressure.setOnClickListener {
+            if (seatPressureSettingView.visibility == View.VISIBLE) {
+                seatPressureSettingView.visibility = View.GONE
+            } else {
+                seatPressureSettingView.visibility = View.VISIBLE
+            }
+        }
+        CallerSeatPressureManager.addListener(TAG, this)
     }
 
     override fun initViews(savedInstanceState: Bundle?) {
@@ -145,6 +174,7 @@ abstract class BaseBusTabFragment<V : IView?, P : Presenter<V>?> : MvpFragment<V
             smallMapView!!.onDestroy()
         }
         EventBus.getDefault().unregister(this)
+        CallerSeatPressureManager.removeListener(TAG)
         super.onDestroyView()
     }
 
@@ -437,4 +467,17 @@ abstract class BaseBusTabFragment<V : IView?, P : Presenter<V>?> : MvpFragment<V
                 "SMd5DPQP:" + if (routesResult == null) "" else routesResult.txtFileMd5DPQP
         }
     }
+
+    /**
+     * 设置座椅是否有人状态
+     * @param isPress 是否有人
+     */
+    override fun onUpdateBgEvent(isPress: Boolean) {
+        if (isPress) {
+            module_och_bus_seat_pressure.setBackgroundResource(R.drawable.bus_operation_status_select_bg)
+        } else {
+            module_och_bus_seat_pressure.setBackgroundResource(R.drawable.bus_operation_status_bg)
+        }
+    }
+
 }
diff --git a/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml b/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
index ef1063f4fc..720d8104f7 100644
--- a/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
+++ b/OCH/bus/driver/src/main/res/layout/bus_base_fragment.xml
@@ -287,6 +287,7 @@
         app:roma_open_bg="@drawable/common_driver_roma_press" />
 
     <com.mogo.och.common.module.wigets.map.drawline.LineView
+        android:id="@+id/lineView"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/rtv_switch"
         android:layout_marginStart="-11dp"
@@ -294,6 +295,99 @@
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"/>
 
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_stop"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/lineView">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="停车"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_start"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_stop">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="出发"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_over_take"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_start">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="超车"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <LinearLayout
+        android:id="@+id/module_och_bus_seat_pressure"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center"
+        android:background="@drawable/bus_operation_status_bg"
+        app:layout_constraintBottom_toBottomOf="@id/module_mogo_och_over_take"
+        app:layout_constraintTop_toTopOf="@id/module_mogo_och_over_take"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_over_take">
+        <ImageView
+            android:layout_width="@dimen/dp_64"
+            android:layout_height="@dimen/dp_64"
+            android:layout_gravity="center"
+            android:src="@drawable/icon_seat_pressure"
+            />
+    </LinearLayout>
+
+    <!--座椅压力设置-->
+    <com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView
+        android:id="@+id/seatPressureSettingView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/module_och_bus_seat_pressure"
+        app:layout_constraintBottom_toBottomOf="@id/module_och_bus_seat_pressure"
+        app:layout_constraintStart_toEndOf="@id/module_och_bus_seat_pressure"
+        android:layout_marginStart="@dimen/dp_40"
+        android:visibility="gone"
+        />
+
+
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
diff --git a/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt b/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt
index 2d66bb62be..ec757d51b4 100644
--- a/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt
+++ b/OCH/charter/driver/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt
@@ -15,8 +15,12 @@ import com.mogo.commons.mvp.IView
 import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.mvp.Presenter
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.setting.ISeatPressureEventListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendPlanningCmd
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.sendPlanningLineChangeCmd
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager.attachAutopilotBeforeLaunchView
+import com.mogo.eagle.core.function.call.setting.CallerSeatPressureManager
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView.ClickListener
@@ -27,6 +31,11 @@ import com.mogo.eagle.core.utilcode.kotlin.onClick
 import com.mogo.och.common.module.utils.ResourcesUtils
 import com.mogo.och.common.module.utils.SoundPoolHelper
 import kotlinx.android.synthetic.main.charter_base_fragment.module_mogo_och_arrived_tv
+import kotlinx.android.synthetic.main.charter_base_fragment.module_mogo_och_over_take
+import kotlinx.android.synthetic.main.charter_base_fragment.module_mogo_och_start
+import kotlinx.android.synthetic.main.charter_base_fragment.module_mogo_och_stop
+import kotlinx.android.synthetic.main.charter_base_fragment.module_och_bus_seat_pressure
+import kotlinx.android.synthetic.main.charter_base_fragment.seatPressureSettingView
 import org.greenrobot.eventbus.EventBus
 
 /**
@@ -38,7 +47,7 @@ import org.greenrobot.eventbus.EventBus
  * @author tongchenfei
  */
 abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
-    MvpFragment<V, P>() {
+    MvpFragment<V, P>() , ISeatPressureEventListener {
 
     private val  TAG = "BaseBusTabFragment"
 
@@ -114,6 +123,25 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
             onArriveStation()
         }
 
+        module_mogo_och_stop.setOnClickListener {
+            sendPlanningCmd(1)
+        }
+        module_mogo_och_start.setOnClickListener {
+            sendPlanningCmd(2)
+        }
+        module_mogo_och_over_take.setOnClickListener {
+            sendPlanningLineChangeCmd(3)
+        }
+        //座椅压力
+        module_och_bus_seat_pressure.setOnClickListener {
+            if (seatPressureSettingView.visibility == View.VISIBLE) {
+                seatPressureSettingView.visibility = View.GONE
+            } else {
+                seatPressureSettingView.visibility = View.VISIBLE
+            }
+        }
+        CallerSeatPressureManager.addListener(TAG, this)
+
         //消息盒子
         viewDriverMsgBoxButton = findViewById(R.id.viewDriverMsgBoxButton)
         viewDriverMsgBoxList = findViewById(R.id.viewDriverMsgBoxList)
@@ -227,6 +255,7 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
         smallMapView?.onDestroy()
         super.onDestroyView()
         CallerAutopilotRecordListenerManager.removeListener(TAG)
+        CallerSeatPressureManager.removeListener(TAG)
         EventBus.getDefault().unregister(this)
     }
 
@@ -267,6 +296,18 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
         super.onDestroy()
     }
 
+    /**
+     * 设置座椅是否有人状态
+     * @param isPress 是否有人
+     */
+    override fun onUpdateBgEvent(isPress: Boolean) {
+        if (isPress) {
+            module_och_bus_seat_pressure.setBackgroundResource(R.drawable.bus_operation_status_select_bg)
+        } else {
+            module_och_bus_seat_pressure.setBackgroundResource(R.drawable.bus_operation_status_bg)
+        }
+    }
+
     /**
      * bus调试面板打开关闭
      */
diff --git a/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml b/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
index dd34a3e11b..f1a3b4e4b4 100644
--- a/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
+++ b/OCH/charter/driver/src/main/res/layout/charter_base_fragment.xml
@@ -251,6 +251,7 @@
         android:layout_height="@dimen/dp_142"/>
 
     <com.mogo.och.common.module.wigets.map.drawline.LineView
+        android:id="@+id/lineView"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/reportworkorderview"
         android:layout_marginStart="-11dp"
@@ -370,4 +371,96 @@
         app:layout_constraintStart_toStartOf="parent"
         />
 
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_stop"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/lineView">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="停车"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_start"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_stop">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="出发"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_over_take"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_start">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="超车"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <LinearLayout
+        android:id="@+id/module_och_bus_seat_pressure"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center"
+        android:background="@drawable/bus_operation_status_bg"
+        app:layout_constraintBottom_toBottomOf="@id/module_mogo_och_over_take"
+        app:layout_constraintTop_toTopOf="@id/module_mogo_och_over_take"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_over_take">
+        <ImageView
+            android:layout_width="@dimen/dp_64"
+            android:layout_height="@dimen/dp_64"
+            android:layout_gravity="center"
+            android:src="@drawable/icon_seat_pressure"
+            />
+    </LinearLayout>
+
+    <!--座椅压力设置-->
+    <com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView
+        android:id="@+id/seatPressureSettingView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/module_och_bus_seat_pressure"
+        app:layout_constraintBottom_toBottomOf="@id/module_och_bus_seat_pressure"
+        app:layout_constraintStart_toEndOf="@id/module_och_bus_seat_pressure"
+        android:layout_marginStart="@dimen/dp_40"
+        android:visibility="gone"
+        />
+
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/fragment/BaseShuttleTabFragment.java b/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/fragment/BaseShuttleTabFragment.java
index 6043c194ec..4cda129c6e 100644
--- a/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/fragment/BaseShuttleTabFragment.java
+++ b/OCH/shuttle/driver/src/main/java/com/mogo/och/shuttle/fragment/BaseShuttleTabFragment.java
@@ -10,6 +10,7 @@ import android.view.ViewGroup;
 import android.view.animation.LinearInterpolator;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
+import android.widget.LinearLayout;
 import android.widget.RelativeLayout;
 import android.widget.TextView;
 
@@ -25,14 +26,17 @@ import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.config.HdMapBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.api.setting.ISeatPressureEventListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
 import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager;
+import com.mogo.eagle.core.function.call.setting.CallerSeatPressureManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
+import com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView;
 import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils;
 import com.mogo.eagle.core.utilcode.mogo.view.OnPreventFastClickListener;
@@ -55,7 +59,7 @@ import org.greenrobot.eventbus.EventBus;
  *
  * @author tongchenfei
  */
-public abstract class BaseShuttleTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> {
+public abstract class BaseShuttleTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> implements ISeatPressureEventListener {
 
     private static final String TAG = "BaseBusTabFragment";
 
@@ -79,6 +83,12 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
 
     public boolean isAnimateRunning = false;
 
+    private RelativeLayout moduleMogoOchStop;
+    private RelativeLayout moduleMogoOchStart;
+    private RelativeLayout moduleMogoOchOverTake;
+    private LinearLayout moduleOchBusSeatPressure;
+    private SeatPressureSettingView mSeatPressureSettingView;
+
     /**
      * 滑动按钮触发的事件
      */
@@ -103,9 +113,33 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
         ctvAutopilotStatusIv = findViewById(R.id.bus_autopilot_btn_iv);
         ctvAutopilotStatusTv = findViewById(R.id.bus_autopolot_btn_tv);
         flStationPanelContainer = findViewById(R.id.module_mogo_och_station_panel_container);
+        moduleMogoOchStop = findViewById(R.id.module_mogo_och_stop);
+        moduleMogoOchStart = findViewById(R.id.module_mogo_och_start);
+        moduleMogoOchOverTake = findViewById(R.id.module_mogo_och_over_take);
+        moduleOchBusSeatPressure = findViewById(R.id.module_och_bus_seat_pressure);
+        mSeatPressureSettingView = findViewById(R.id.seatPressureSettingView);
 
         tvArrived = findViewById(R.id.module_mogo_och_arrived_tv);
 
+        moduleMogoOchStop.setOnClickListener(v -> {
+            CallerAutoPilotControlManager.INSTANCE.sendPlanningCmd(1);
+        });
+        moduleMogoOchStart.setOnClickListener(v -> {
+            CallerAutoPilotControlManager.INSTANCE.sendPlanningCmd(2);
+        });
+        moduleMogoOchOverTake.setOnClickListener(v -> {
+            CallerAutoPilotControlManager.INSTANCE.sendPlanningLineChangeCmd(3);
+        });
+        //座椅压力
+        moduleOchBusSeatPressure.setOnClickListener(v -> {
+            if(mSeatPressureSettingView.getVisibility() == View.VISIBLE){
+                mSeatPressureSettingView.setVisibility(View.GONE);
+            }else{
+                mSeatPressureSettingView.setVisibility(View.VISIBLE);
+            }
+        });
+        CallerSeatPressureManager.INSTANCE.addListener(TAG, this);
+
         FrameLayout flSpeed = findViewById(R.id.fl_speed);
         if (flSpeed != null) {
             CallerDevaToolsManager.INSTANCE.attachAutopilotBeforeLaunchView(flSpeed.getContext(), flSpeed);
@@ -240,6 +274,7 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
         }
         super.onDestroyView();
         CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
+        CallerSeatPressureManager.INSTANCE.removeListener(TAG);
         EventBus.getDefault().unregister(this);
     }
 
@@ -503,6 +538,15 @@ public abstract class BaseShuttleTabFragment<V extends IView, P extends Presente
         }
     }
 
+    @Override
+    public void onUpdateBgEvent(boolean isPress) {
+        if (isPress) {
+            moduleOchBusSeatPressure.setBackgroundResource(R.drawable.bus_operation_status_select_bg);
+        } else {
+            moduleOchBusSeatPressure.setBackgroundResource(R.drawable.bus_operation_status_bg);
+        }
+    }
+
     /**
      * Bus调试信息：线路、轨迹等信息
      * <p>
diff --git a/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml b/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
index 159ebca0d0..ef7b3d75dc 100644
--- a/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
+++ b/OCH/shuttle/driver/src/main/res/layout/shuttle_base_fragment.xml
@@ -269,6 +269,7 @@
         android:layout_height="@dimen/dp_142"/>
 
     <com.mogo.och.common.module.wigets.map.drawline.LineView
+        android:id="@+id/lineView"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/reportworkorderview"
         android:layout_marginStart="-11dp"
@@ -276,6 +277,98 @@
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"/>
 
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_stop"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/lineView">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="停车"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_start"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_stop">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="出发"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <RelativeLayout
+        android:id="@+id/module_mogo_och_over_take"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:background="@drawable/bus_operation_status_bg_selector"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_start">
+
+        <TextView
+            android:layout_width="@dimen/dp_80"
+            android:layout_height="@dimen/dp_80"
+            android:layout_centerInParent="true"
+            android:layout_gravity="center"
+            android:text="超车"
+            android:gravity="center"
+            android:textStyle="bold"
+            android:maxLines="1"
+            android:textColor="@android:color/white"
+            android:textSize="@dimen/dp_32"/>
+    </RelativeLayout>
+
+    <LinearLayout
+        android:id="@+id/module_och_bus_seat_pressure"
+        android:layout_width="@dimen/dp_172"
+        android:layout_height="@dimen/dp_172"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center"
+        android:background="@drawable/bus_operation_status_bg"
+        app:layout_constraintBottom_toBottomOf="@id/module_mogo_och_over_take"
+        app:layout_constraintTop_toTopOf="@id/module_mogo_och_over_take"
+        app:layout_constraintLeft_toRightOf="@id/module_mogo_och_over_take">
+        <ImageView
+            android:layout_width="@dimen/dp_64"
+            android:layout_height="@dimen/dp_64"
+            android:layout_gravity="center"
+            android:src="@drawable/icon_seat_pressure"
+            />
+    </LinearLayout>
+
+    <!--座椅压力设置-->
+    <com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView
+        android:id="@+id/seatPressureSettingView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/module_och_bus_seat_pressure"
+        app:layout_constraintBottom_toBottomOf="@id/module_och_bus_seat_pressure"
+        app:layout_constraintStart_toEndOf="@id/module_och_bus_seat_pressure"
+        android:layout_marginStart="@dimen/dp_40"
+        android:visibility="gone"
+        />
+
     <com.mogo.och.shuttle.view.SlidePanelView
         android:id="@+id/module_mogo_och_slide_panel"
         android:layout_width="wrap_content"
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index f370397d2b..de819da7c8 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -12,6 +12,7 @@ import android.view.ViewGroup;
 import android.view.animation.LinearInterpolator;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
+import android.widget.LinearLayout;
 import android.widget.RelativeLayout;
 import android.widget.TextView;
 
@@ -25,13 +26,17 @@ import com.mogo.commons.mvp.IView;
 import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.api.setting.ISeatPressureEventListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager;
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager;
+import com.mogo.eagle.core.function.call.setting.CallerSeatPressureManager;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
+import com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView;
+import com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverAutopilotView;
 import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.function.view.MapRoamView;
@@ -56,7 +61,7 @@ import me.jessyan.autosize.utils.AutoSizeUtils;
  *
  * @author tongchenfei
  */
-public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> implements IMogoMapListener {
+public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V>> extends MvpFragment<V, P> implements IMogoMapListener , ISeatPressureEventListener {
 
     private static final String TAG = "BaseOchFragment";
     private RelativeLayout ctvAutopilotStatusRL;
@@ -85,6 +90,10 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
 
     private OverMapDialog overMapDialog;
 
+    protected LinearLayout mSeatPressureBtn;//座椅压力
+    protected TakeOverAutopilotView takeOverAutopilotView;
+    protected SeatPressureSettingView seatPressureSettingView;
+
     private final Handler mHandler = new Handler(Looper.getMainLooper());
 
     @Override
@@ -205,6 +214,21 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                 overMapDialog.showDialog();
             }
         });
+        //座椅压力
+        mSeatPressureBtn = findViewById(R.id.module_och_taxi_seat_pressure);
+        seatPressureSettingView = findViewById(R.id.seatPressureSettingView);
+        assert mSeatPressureBtn != null;
+        mSeatPressureBtn.setOnClickListener(view -> {
+            if(seatPressureSettingView.getVisibility() == View.VISIBLE){
+                seatPressureSettingView.setVisibility(View.GONE);
+            }else{
+                seatPressureSettingView.setVisibility(View.VISIBLE);
+            }
+        });
+        CallerSeatPressureManager.INSTANCE.addListener(TAG,this);
+
+        TakeOverAutopilotView takeOverAutopilotView = new TakeOverAutopilotView(getActivity());
+        takeOverAutopilotView.showFloatWindow();
     }
 
     @Override
@@ -227,6 +251,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         super.onPause();
         mapBizView.onPause();
         smallMapView.onPause();
+        takeOverAutopilotView.hideFloatWindow();
     }
 
     protected void onChangeOperationStatus() {
@@ -279,6 +304,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         taxiRottingNaviFragment = null;
         smallMapView = null;
         CallerAutopilotRecordListenerManager.INSTANCE.removeListener(TAG);
+        CallerSeatPressureManager.INSTANCE.removeListener(TAG);
     }
 
     @Override
@@ -570,4 +596,17 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     public void setGuidHide(){
         acivShowGuid.setVisibility(View.GONE);
     }
+
+    /**
+     * 设置座椅是否有人状态
+     * @param isPress 是否有人
+     */
+    @Override
+    public void onUpdateBgEvent(boolean isPress) {
+        if(isPress){
+            mSeatPressureBtn.setBackgroundResource(R.drawable.taxi_operation_status_select_bg);
+        }else{
+            mSeatPressureBtn.setBackgroundResource(R.drawable.taxi_operation_status_bg);
+        }
+    }
 }
diff --git a/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml b/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
index bbf42529ab..485b07520c 100644
--- a/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
+++ b/OCH/taxi/driver/src/main/res/layout/taxi_base_fragment.xml
@@ -337,6 +337,7 @@
         app:roma_open_bg="@drawable/common_driver_roma_press" />
 
     <com.mogo.och.common.module.wigets.map.drawline.LineView
+        android:id="@+id/lineView"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/rtv_switch"
         android:layout_marginStart="-11dp"
@@ -352,6 +353,37 @@
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent" />
 
+    <!--考试-座椅压力-->
+    <LinearLayout
+        android:id="@+id/module_och_taxi_seat_pressure"
+        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
+        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
+        android:layout_marginLeft="40dp"
+        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center"
+        android:background="@drawable/taxi_operation_status_bg"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/lineView">
+        <ImageView
+            android:layout_width="@dimen/dp_64"
+            android:layout_height="@dimen/dp_64"
+            android:layout_gravity="center"
+            android:src="@drawable/icon_seat_pressure"
+            />
+    </LinearLayout>
+
+    <!--座椅压力设置-->
+    <com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView
+        android:id="@+id/seatPressureSettingView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/module_och_taxi_seat_pressure"
+        app:layout_constraintBottom_toBottomOf="@id/module_och_taxi_seat_pressure"
+        app:layout_constraintStart_toEndOf="@id/module_och_taxi_seat_pressure"
+        android:layout_marginStart="@dimen/dp_40"
+        android:visibility="gone"
+        />
 
     <Button
         android:id="@+id/btnAutopilotDisable"
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt
index 6a84d3dbeb..6f6ef2c348 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/unmanned/taxi/ui/base/BaseTaxiTabFragment.kt
@@ -16,11 +16,13 @@ import com.mogo.commons.mvp.MvpFragment
 import com.mogo.commons.mvp.Presenter
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotRecordListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.api.setting.ISeatPressureEventListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager.getState
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotRecordListenerManager
 import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiViewControlListenerManager
+import com.mogo.eagle.core.function.call.setting.CallerSeatPressureManager
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView
 import com.mogo.eagle.core.function.hmi.ui.widget.ParallelDriveView
 import com.mogo.eagle.core.utilcode.kotlin.onClick
@@ -47,7 +49,9 @@ import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.module_mogo_oc
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.module_mogo_och_station_panel_container
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.module_och_autopilot_iv
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.module_och_autopilot_tv
+import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.module_och_taxi_seat_pressure
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.parallelDriveView
+import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.seatPressureSettingView
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.smallMapView
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.startAutopilotAnimationView
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.taxi_close_navi_icon
@@ -55,12 +59,13 @@ import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.viewDriverMsgB
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.viewDriverMsgBoxButton
 import kotlinx.android.synthetic.main.unmanned_taxi_base_fragment.viewDriverMsgBoxList
 
+
 /**
  * @author: wangmingjun
  * @date: 2023/7/24
  */
 abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V, P>(),
-    IMogoMapListener, IMoGoAutopilotRecordListener {
+    IMogoMapListener, IMoGoAutopilotRecordListener, ISeatPressureEventListener {
     companion object {
         const val TAG = "BaseTaxiTabFragment"
     }
@@ -204,6 +209,16 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
                 overMapDialog?.showDialog()
             }
         }
+        //座椅压力
+        module_och_taxi_seat_pressure.setOnClickListener {
+            if (seatPressureSettingView!!.visibility == View.VISIBLE) {
+                seatPressureSettingView!!.visibility = View.GONE
+            } else {
+                seatPressureSettingView!!.visibility = View.VISIBLE
+            }
+        }
+        CallerSeatPressureManager.addListener(TAG,this);
+
     }
 
     abstract fun stopAutoStartAutopilot()
@@ -243,6 +258,7 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
         smallMapView?.onDestroy()
         startAutopilotAnimationView.cancelCountdown()
         CallerAutopilotRecordListenerManager.removeListener(TAG)
+        CallerSeatPressureManager.removeListener(TAG)
         super.onDestroyView()
     }
     
@@ -541,4 +557,16 @@ abstract class BaseTaxiTabFragment<V : IView, P : Presenter<V>> : MvpFragment<V,
     fun setGuidHide() {
         aciv_show_guid.visibility = View.GONE
     }
+
+    /**
+     * 设置座椅是否有人状态
+     * @param isPress 是否有人
+     */
+    override fun onUpdateBgEvent(isPress: Boolean) {
+        if (isPress) {
+            module_och_taxi_seat_pressure.setBackgroundResource(R.drawable.taxi_operation_status_select_bg)
+        } else {
+            module_och_taxi_seat_pressure.setBackgroundResource(R.drawable.taxi_operation_status_bg)
+        }
+    }
 }
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
index 1a78cd4b71..ea5dde35bb 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/unmanned_taxi_base_fragment.xml
@@ -342,6 +342,7 @@
         app:roma_open_bg="@drawable/common_driver_roma_press" />
 
     <com.mogo.och.common.module.wigets.map.drawline.LineView
+        android:id="@+id/lineView"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toRightOf="@id/rtv_switch"
         android:layout_marginStart="-11dp"
@@ -349,6 +350,38 @@
         android:layout_width="@dimen/dp_142"
         android:layout_height="@dimen/dp_142"/>
 
+    <!--考试-座椅压力-->
+    <LinearLayout
+        android:id="@+id/module_och_taxi_seat_pressure"
+        android:layout_width="@dimen/module_mogo_och_operation_status_bg_width"
+        android:layout_height="@dimen/module_mogo_och_operation_status_bg_height"
+        android:layout_marginLeft="40dp"
+        android:layout_marginBottom="@dimen/module_mogo_och_margin_bottom"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center"
+        android:background="@drawable/taxi_operation_status_bg"
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/lineView">
+        <ImageView
+            android:layout_width="@dimen/dp_64"
+            android:layout_height="@dimen/dp_64"
+            android:layout_gravity="center"
+            android:src="@drawable/icon_seat_pressure"
+            />
+    </LinearLayout>
+
+    <!--座椅压力设置-->
+    <com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView
+        android:id="@+id/seatPressureSettingView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        app:layout_constraintTop_toTopOf="@id/module_och_taxi_seat_pressure"
+        app:layout_constraintBottom_toBottomOf="@id/module_och_taxi_seat_pressure"
+        app:layout_constraintStart_toEndOf="@id/module_och_taxi_seat_pressure"
+        android:layout_marginStart="@dimen/dp_40"
+        android:visibility="gone"
+        />
+
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
diff --git a/config.gradle b/config.gradle
index da325d0232..2e7de2805f 100644
--- a/config.gradle
+++ b/config.gradle
@@ -222,7 +222,7 @@ ext {
             weak_network                 : "com.mogo.weak:network:1.0.1",
             btrace                       : "com.bytedance.btrace:rhea-core:2.0.0",
 
-            mofang_runtime               : "com.mogo.eagle.core.mofang:runtime:2.0.11",
+            mofang_runtime               : "com.mogo.eagle.core.mofang:runtime:2.0.12",
             log_runtime                  : "com.mogo.eagle.core.log.record:runtime:2.0.50",
 
             // 安全证书
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index a0daf31b51..2df83b5544 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -636,6 +636,76 @@ class MoGoAutopilotControlProvider :
         return AdasManager.getInstance().sendDetouringSpeed(speed) > -1
     }
 
+    /**
+     * AEB开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
+     */
+    override fun sendAebCmd(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendAebCmd(1) > -1
+        }else{
+            AdasManager.getInstance().sendAebCmd(0) > -1
+        }
+    }
+
+    /**
+     * 限制绕障开关
+     * isEnable = true  限制绕障
+     * isEnable = false 正常绕障
+     * @return boolean
+     */
+    override fun sendLaneChangeRestrainValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendLaneChangeRestrainValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendLaneChangeRestrainValid(0) > -1
+        }
+    }
+
+    /**
+     * 停车让行线前避让等待开关
+     * isEnable = true  停车让行线前需要避让等待
+     * isEnable = false 停车让行线前无需避让等待
+     * @return boolean
+     */
+    override fun sendStopYieldValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendStopYieldValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendStopYieldValid(0) > -1
+        }
+    }
+
+    /**
+     * 地图限速功能开关
+     * isEnable = true  使用地图限速功能
+     * isEnable = false 不使用地图限速功能
+     * @return boolean
+     */
+    override fun sendHadmapSpeedLimitValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendHadmapSpeedLimitValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendHadmapSpeedLimitValid(0) > -1
+        }
+    }
+
+    /**
+     * 环岛模式开关
+     * isEnable = true  环岛模式
+     * isEnable = false 普通模式
+     * @return boolean
+     */
+    override fun sendRampThetaValid(isEnable: Boolean): Boolean {
+        return if(isEnable){
+            AdasManager.getInstance().sendRampThetaValid(1) > -1
+        }else{
+            AdasManager.getInstance().sendRampThetaValid(0) > -1
+        }
+    }
+
     /**
      * 弱网减速停车策略开关
      * isEnable = true  使用弱网减速停车策略
@@ -1243,7 +1313,38 @@ class MoGoAutopilotControlProvider :
         return AdasManager.getInstance().sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd) > -1
     }
 
+    @ChainLog(
+        linkChainLog = AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = AdasChain.CHAIN_SOURCE_ADAS,
+        nodeAliasCode = AdasChain.CHAIN_CODE_ADAS_SEND_PLANNING_CMD,
+        paramIndexes = [0]
+    )
     override fun sendPlanningCmd(cmd: Int): Boolean {
         return AdasManager.getInstance().sendPlanningCmd(cmd) > -1
     }
+
+    @ChainLog(
+        linkChainLog = AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = AdasChain.CHAIN_SOURCE_ADAS,
+        nodeAliasCode = AdasChain.CHAIN_CODE_ADAS_SEND_PLANNING_CMD,
+        paramIndexes = [0]
+    )
+    override fun sendPlanningLineChangeCmd(cmd: Int): Boolean {
+        return AdasManager.getInstance().sendPlanningLaneChangeCmd(cmd) > -1
+    }
+
+    override fun sendPlanningPullOverCmd(pullOverCmd: Int): Boolean {
+        return AdasManager.getInstance().sendPlanningPullOverCmd(pullOverCmd) > -1
+    }
+
+    /**
+     * 设置座椅压力接口
+     * @param driver 主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     */
+    override fun sendSeatPressure(driver: Boolean, copilot: Boolean, backRow: Boolean): Boolean {
+        return AdasManager.getInstance().sendSeatPressure(driver, copilot, backRow) > -1
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index cf72166d49..164d27a233 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -22,6 +22,7 @@ import com.mogo.eagle.core.data.deva.report.WorkOrderReportInfo
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.deva.scene.SceneTAG
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
+import com.mogo.eagle.core.data.takeover.TakeOverAnnotation
 import com.mogo.eagle.core.function.api.devatools.IDevaToolsProvider
 import com.mogo.eagle.core.function.api.devatools.block.IMoGoBlockProvider
 import com.mogo.eagle.core.function.api.devatools.download.DownloadType
@@ -73,6 +74,7 @@ import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.Status
 import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
 import com.zhjt.mogo_core_function_devatools.strict.StrictModeProviderImpl
+import com.zhjt.mogo_core_function_devatools.takeover.TakeOverManager
 import com.zhjt.mogo_core_function_devatools.trace.TraceManager.Companion.traceManager
 import com.zhjt.mogo_core_function_devatools.tts.TtsManager.Companion.ttsManager
 import com.zhjt.mogo_core_function_devatools.upgrade.UpgradeManager.Companion.upgradeManager
@@ -647,4 +649,8 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
     override fun setRouteDynamicColorEnable(enable: Boolean) {
         mapRouteProvider?.setRouteDynamicColorEnable(enable)
     }
+
+    override fun takeOver(@TakeOverAnnotation takeOverAnnotation: Int) {
+        TakeOverManager.takeOverManager.takeOver(takeOverAnnotation)
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/TakeOverManager.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/TakeOverManager.kt
new file mode 100644
index 0000000000..c593766674
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/TakeOverManager.kt
@@ -0,0 +1,19 @@
+package com.zhjt.mogo_core_function_devatools.takeover
+
+import com.mogo.eagle.core.data.takeover.TakeOverAnnotation
+import com.zhjt.mogo_core_function_devatools.takeover.network.TakeOverNetWorkModel
+
+class TakeOverManager {
+
+    companion object {
+        val takeOverManager: TakeOverManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
+            TakeOverManager()
+        }
+    }
+
+    private val takeOverNetWorkModel = TakeOverNetWorkModel()
+
+    fun takeOver(@TakeOverAnnotation takeOverAnnotation: Int) {
+
+    }
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverApiService.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverApiService.kt
new file mode 100644
index 0000000000..2387fb3591
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverApiService.kt
@@ -0,0 +1,13 @@
+package com.zhjt.mogo_core_function_devatools.takeover.network
+
+import com.mogo.eagle.core.data.BaseResponse
+import retrofit2.http.*
+
+interface TakeOverApiService {
+
+    //云端接管
+    @Headers("Content-Type:application/json;charset=UTF-8")
+    @POST("/paralleldriving-service/autocars")
+    suspend fun takeOver(@Body map: MutableMap<String, Any>): BaseResponse<Any>
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverHost.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverHost.kt
new file mode 100644
index 0000000000..5ecff5ef65
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverHost.kt
@@ -0,0 +1,22 @@
+package com.zhjt.mogo_core_function_devatools.takeover.network
+
+import com.mogo.commons.debug.DebugConfig
+
+class TakeOverHost {
+
+    companion object{
+        private const val HOST_DEV = "http://dzt-test.zhidaozhixing.com/"
+        private const val HOST_RELEASE = "http://dzt.zhidaozhixing.com/"
+
+        fun get(): String{
+            return when (DebugConfig.getNetMode()) {
+                DebugConfig.NET_MODE_DEV -> HOST_DEV
+                DebugConfig.NET_MODE_QA -> HOST_DEV
+                DebugConfig.NET_MODE_DEMO -> HOST_RELEASE
+                DebugConfig.NET_MODE_RELEASE -> HOST_RELEASE
+                else -> HOST_RELEASE
+            }
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverNetWorkModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverNetWorkModel.kt
new file mode 100644
index 0000000000..6455cd4a93
--- /dev/null
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/takeover/network/TakeOverNetWorkModel.kt
@@ -0,0 +1,288 @@
+package com.zhjt.mogo_core_function_devatools.takeover.network
+
+import com.mogo.cloud.passport.MoGoAiCloudClientConfig
+import com.mogo.eagle.core.data.BaseResponse
+import com.mogo.eagle.core.data.app.AppConfigInfo
+import com.mogo.eagle.core.data.takeover.*
+import com.mogo.eagle.core.network.MoGoRetrofitFactory
+import com.mogo.eagle.core.network.apiCall
+import com.mogo.eagle.core.network.request
+import java.util.concurrent.ConcurrentHashMap
+
+
+class TakeOverNetWorkModel {
+
+    private fun getNetWorkApi(baseUrl: String = TakeOverHost.get()): TakeOverApiService {
+        return MoGoRetrofitFactory.getInstanceNoCallAdapter(baseUrl)
+            .create(TakeOverApiService::class.java)
+    }
+
+    private val retryMap: ConcurrentHashMap<Int, Int> = ConcurrentHashMap<Int, Int>()
+
+    fun manualControl(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[MANUAL_CONTROL] = retryMap[MANUAL_CONTROL] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = MANUAL_CONTROL
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(MANUAL_CONTROL)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[MANUAL_CONTROL]!! <= 3) {
+                        retryMap[MANUAL_CONTROL] = retryMap[MANUAL_CONTROL]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("manualControl result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[MANUAL_CONTROL]!! <= 3) {
+                    retryMap[MANUAL_CONTROL] = retryMap[MANUAL_CONTROL]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+    fun overTake(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[OVER_TAKE] = retryMap[OVER_TAKE] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = OVER_TAKE
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(OVER_TAKE)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[OVER_TAKE]!! <= 3) {
+                        retryMap[OVER_TAKE] = retryMap[OVER_TAKE]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("overTake result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[OVER_TAKE]!! <= 3) {
+                    retryMap[OVER_TAKE] = retryMap[OVER_TAKE]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+    fun lineToLeft(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[LINE_TO_LEFT] = retryMap[LINE_TO_LEFT] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = LINE_TO_LEFT
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(LINE_TO_LEFT)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[LINE_TO_LEFT]!! <= 3) {
+                        retryMap[LINE_TO_LEFT] = retryMap[LINE_TO_LEFT]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("lineToLeft result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[LINE_TO_LEFT]!! <= 3) {
+                    retryMap[LINE_TO_LEFT] = retryMap[LINE_TO_LEFT]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+    fun lineToRight(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[LINE_TO_RIGHT] = retryMap[LINE_TO_RIGHT] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = LINE_TO_RIGHT
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(LINE_TO_RIGHT)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[LINE_TO_RIGHT]!! <= 3) {
+                        retryMap[LINE_TO_RIGHT] = retryMap[LINE_TO_RIGHT]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("lineToRight result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[LINE_TO_RIGHT]!! <= 3) {
+                    retryMap[LINE_TO_RIGHT] = retryMap[LINE_TO_RIGHT]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+    fun pullOver(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[PULL_OVER] = retryMap[PULL_OVER] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = PULL_OVER
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(PULL_OVER)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[PULL_OVER]!! <= 3) {
+                        retryMap[PULL_OVER] = retryMap[PULL_OVER]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("pullOver result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[PULL_OVER]!! <= 3) {
+                    retryMap[PULL_OVER] = retryMap[PULL_OVER]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+    fun emergencyStop(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[EMERGENCY_STOP] = retryMap[EMERGENCY_STOP] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = EMERGENCY_STOP
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(EMERGENCY_STOP)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[EMERGENCY_STOP]!! <= 3) {
+                        retryMap[EMERGENCY_STOP] = retryMap[EMERGENCY_STOP]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("emergencyStop result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[EMERGENCY_STOP]!! <= 3) {
+                    retryMap[EMERGENCY_STOP] = retryMap[EMERGENCY_STOP]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+    fun takeOverRequest(onSuccess: (() -> Unit), onError: ((String) -> Unit)) {
+        request<BaseResponse<Any>> {
+            start {
+                retryMap[TAKE_OVER_REQUEST] = retryMap[TAKE_OVER_REQUEST] ?: 0 + 1
+            }
+            loader {
+                apiCall {
+                    val map = mutableMapOf<String, Any>()
+                    map["sn"] = MoGoAiCloudClientConfig.getInstance().sn
+                    map["type"] = TAKE_OVER_REQUEST
+                    map["plateNumber"] = AppConfigInfo.plateNumber ?: ""
+                    getNetWorkApi().takeOver(map)
+                }
+            }
+            onSuccess {
+                if (it.result != null) {
+                    retryMap.remove(TAKE_OVER_REQUEST)
+                    onSuccess.invoke()
+                } else {
+                    if (retryMap[TAKE_OVER_REQUEST]!! <= 3) {
+                        retryMap[TAKE_OVER_REQUEST] = retryMap[TAKE_OVER_REQUEST]!! + 1
+                        manualControl(onSuccess, onError)
+                    } else {
+                        onError.invoke("takeOverRequest result is null")
+                    }
+                }
+            }
+            onError {
+                if (retryMap[TAKE_OVER_REQUEST]!! <= 3) {
+                    retryMap[TAKE_OVER_REQUEST] = retryMap[TAKE_OVER_REQUEST]!! + 1
+                    manualControl(onSuccess, onError)
+                } else if (it.message != null) {
+                    onError.invoke(it.message!!)
+                }
+            }
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/network/StartUpTraceNetWorkModel.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/network/StartUpTraceNetWorkModel.kt
index 19fa83eaac..68140a2a73 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/network/StartUpTraceNetWorkModel.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/trace/network/StartUpTraceNetWorkModel.kt
@@ -17,7 +17,6 @@ class StartUpTraceNetWorkModel {
             .create(TraceStartUpApiService::class.java)
     }
 
-    private var retryTime = 0
     private var success: ((String) -> Unit)? = null
     private var error: ((String) -> Unit)? = null
     @Volatile
@@ -29,7 +28,8 @@ class StartUpTraceNetWorkModel {
         onError: ((String) -> Unit)? = null
     ) {
         request<BaseResponse<String>> {
-            var map: MutableMap<String, Any> = mutableMapOf()
+            var retryTime = 0
+            var map: MutableMap<String, Any>
             start {
                 if (success == null) {
                     success = onSuccess
@@ -54,11 +54,13 @@ class StartUpTraceNetWorkModel {
             onSuccess {
                 if (it.result != null) {
                     onSuccess?.invoke(it.result)
+                    traceId = ""
                 } else {
                     if (retryTime < 3) {
                         retryTime += 1
-                        report()
+                        report(id)
                     } else {
+                        traceId = ""
                         error?.invoke("startUp report error msg is null")
                     }
                 }
@@ -66,13 +68,13 @@ class StartUpTraceNetWorkModel {
             onError {
                 if (retryTime < 3) {
                     retryTime += 1
-                    report()
+                    report(id)
                 } else if (it.message != null) {
+                    traceId = ""
                     error?.invoke(it.message ?: "startUp report error msg is null")
                 }
 
             }
-
         }
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SeatPressureSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SeatPressureSettingView.kt
new file mode 100644
index 0000000000..2e13d4cc25
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SeatPressureSettingView.kt
@@ -0,0 +1,79 @@
+package com.mogo.eagle.core.function.hmi.ui.setting
+
+import android.content.Context
+import android.util.AttributeSet
+import android.view.LayoutInflater
+import androidx.constraintlayout.widget.ConstraintLayout
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.setting.CallerSeatPressureManager
+import com.mogo.eagle.core.function.hmi.R
+import kotlinx.android.synthetic.main.view_seat_pressure_setting.view.tb_co_driver
+import kotlinx.android.synthetic.main.view_seat_pressure_setting.view.tb_main_driver
+import kotlinx.android.synthetic.main.view_seat_pressure_setting.view.tb_rear_row
+
+/**
+ * 座椅压力设置页面（设座位是否有人）
+ */
+class SeatPressureSettingView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null,
+    defStyleAttr: Int = 0
+) : ConstraintLayout(context, attrs, defStyleAttr) {
+
+    companion object {
+        const val TAG = "SeatPressureSettingView"
+    }
+
+    private var mainDriverStatus = false //主驾是否有人，默认没人
+    private var coDriverStatus = false //副驾是否有人，默认没人
+    private var rearRowStatus = false //后排是否有人，默认没人
+
+    init {
+        LayoutInflater.from(context).inflate(R.layout.view_seat_pressure_setting, this, true)
+        initView()
+    }
+
+    private fun initView(){
+        //主驾
+        tb_main_driver.isChecked = mainDriverStatus
+        tb_main_driver.setOnCheckedChangeListener{compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            mainDriverStatus = isChecked
+            CallerAutoPilotControlManager.sendSeatPressure(mainDriverStatus,coDriverStatus,rearRowStatus)
+            updateBtnBg(mainDriverStatus,coDriverStatus,rearRowStatus)
+        }
+        //副驾
+        tb_co_driver.isChecked = coDriverStatus
+        tb_co_driver.setOnCheckedChangeListener{compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            coDriverStatus = isChecked
+            CallerAutoPilotControlManager.sendSeatPressure(mainDriverStatus,coDriverStatus,rearRowStatus)
+            updateBtnBg(mainDriverStatus,coDriverStatus,rearRowStatus)
+        }
+        //后排
+        tb_rear_row.isChecked = rearRowStatus
+        tb_rear_row.setOnCheckedChangeListener{compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            rearRowStatus = isChecked
+            CallerAutoPilotControlManager.sendSeatPressure(mainDriverStatus,coDriverStatus,rearRowStatus)
+            updateBtnBg(mainDriverStatus,coDriverStatus,rearRowStatus)
+        }
+    }
+
+    private fun updateBtnBg(driver: Boolean,copilot: Boolean,backRow: Boolean){
+        if(driver || copilot || backRow){
+            //主驾、副驾、后排只要有一个位置有人则开关按钮就显示有人状态
+            CallerSeatPressureManager.invokeUpdateBgEvent(true)
+        }else{
+            //所有座位都没有人则显示无人状态
+            CallerSeatPressureManager.invokeUpdateBgEvent(false)
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
index 7c7e6da225..5da0bc4f42 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.hmi.ui.vehicle
 
 import android.content.Context
+import android.os.CountDownTimer
 import android.util.AttributeSet
 import android.util.TypedValue.COMPLEX_UNIT_PX
 import android.view.LayoutInflater
@@ -21,6 +22,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningActionsListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.SoundPoolUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.zhjt.service_biz.BizConfig
 import kotlinx.android.synthetic.main.view_pnc_actions.view.*
@@ -122,6 +124,24 @@ class PncActionsView @JvmOverloads constructor(
                             AppCompatResources.getDrawable(context, bgResources)
                         tvHmiPncActions.text = actions
                     }
+                    //voice tip
+                    if(actions == "已超出ODD"){
+                        val countDownTimer = object : CountDownTimer(3000, 1000){
+                            override fun onTick(p0: Long) {
+                                try {
+                                    SoundPoolUtils.getSoundPool().playSoundWithRedId(context,R.raw.weak_net_tips)
+                                }catch (e: Exception){
+                                    e.printStackTrace()
+                                }
+                            }
+
+                            override fun onFinish() {
+
+                            }
+
+                        }
+                        countDownTimer.start()
+                    }
                 } else {
                     tvHmiPncActions.background = null
                     tvHmiPncActions.text = ""
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt
new file mode 100644
index 0000000000..70ca520119
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt
@@ -0,0 +1,259 @@
+package com.mogo.eagle.core.function.hmi.ui.vehicle
+
+import android.annotation.SuppressLint
+import android.app.Activity
+import android.graphics.PixelFormat
+import android.util.DisplayMetrics
+import android.view.Gravity
+import android.view.LayoutInflater
+import android.view.MotionEvent
+import android.view.View
+import android.view.WindowManager
+import android.widget.Button
+import android.widget.ToggleButton
+import com.mogo.eagle.core.data.enums.EventTypeEnumNew
+import com.mogo.eagle.core.data.msgbox.AutopilotMsg
+import com.mogo.eagle.core.data.msgbox.MsgBoxBean
+import com.mogo.eagle.core.data.msgbox.MsgBoxType
+import com.mogo.eagle.core.data.takeover.TAKE_OVER_REQUEST
+import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.devatools.CallerDevaToolsManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
+import com.mogo.eagle.core.function.call.setting.CallerTakeOverManager
+import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.BarUtils
+import com.mogo.eagle.core.utilcode.util.SPUtils
+import com.mogo.eagle.core.utilcode.util.SoundUtils
+import kotlinx.android.synthetic.main.view_remote_take_over_autopilot.view.*
+import kotlinx.android.synthetic.main.view_sop_setting.view.*
+
+class TakeOverAutopilotView constructor(activity: Activity):View.OnTouchListener {
+
+    private var takeOverRequest: Boolean = false
+    private var mActivity: Activity = activity
+    private lateinit var mFloatLayout: View
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+
+    private var mInViewX = 0f
+    private var mInViewY = 0f
+    private var mInScreenX = 0f
+    private var mInScreenY = 0f
+
+    private lateinit var btnManualControl: Button
+    private lateinit var btnOverTake: Button
+    private lateinit var btnLineToLeft: Button
+    private lateinit var btnLineToRight: Button
+    private lateinit var btnPullOver: Button
+    private lateinit var btnEmergencyStop: Button
+    private lateinit var btnTakeOverRequest: Button
+    private lateinit var btnTakeOverRecover: Button
+    private lateinit var tbLaneChange: ToggleButton
+    private lateinit var tbAeb: ToggleButton
+    private lateinit var tbStopYield: ToggleButton
+    private lateinit var tbMapSpeed: ToggleButton
+    private lateinit var tbRamp: ToggleButton
+
+
+    init {
+        initView()
+    }
+
+    private fun initView() {
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_remote_take_over_autopilot, null) as View
+        mFloatLayout.setOnTouchListener(this)
+
+        btnManualControl = mFloatLayout.findViewById(R.id.btn_manual_control)
+        btnOverTake = mFloatLayout.findViewById(R.id.btn_over_take)
+        btnLineToLeft = mFloatLayout.findViewById(R.id.btn_line_to_left)
+        btnLineToRight = mFloatLayout.findViewById(R.id.btn_line_to_right)
+        btnPullOver = mFloatLayout.findViewById(R.id.btn_pull_over)
+        btnEmergencyStop = mFloatLayout.findViewById(R.id.btn_emergency_stop)
+        btnTakeOverRequest = mFloatLayout.findViewById(R.id.btn_take_over_request)
+        btnTakeOverRecover = mFloatLayout.findViewById(R.id.btn_take_over_recover)
+        tbLaneChange = mFloatLayout.findViewById(R.id.tb_lane_change)
+        tbAeb = mFloatLayout.findViewById(R.id.tb_aeb)
+        tbStopYield = mFloatLayout.findViewById(R.id.tb_stop_yield)
+        tbMapSpeed = mFloatLayout.findViewById(R.id.tb_map_speed)
+        tbRamp = mFloatLayout.findViewById(R.id.tb_ramp)
+
+        //人工接管
+        btnManualControl.setOnClickListener {
+            // 退出自驾
+            CallerAutoPilotControlManager.cancelAutoPilot()
+//          CallerDevaToolsManager.takeOver(MANUAL_CONTROL)
+        }
+        //超车
+        btnOverTake.setOnClickListener {
+            // 超车
+            CallerAutoPilotControlManager.sendPlanningLineChangeCmd(3)
+//          CallerDevaToolsManager.takeOver(OVER_TAKE)
+        }
+        btnLineToLeft.setOnClickListener {
+            // 向左变道
+            CallerAutoPilotControlManager.sendPlanningLineChangeCmd(1)
+//          CallerDevaToolsManager.takeOver(LINE_TO_LEFT)
+        }
+        btnLineToRight.setOnClickListener {
+            // 向右变道
+            CallerAutoPilotControlManager.sendPlanningLineChangeCmd(2)
+//          CallerDevaToolsManager.takeOver(LINE_TO_RIGHT)
+        }
+        btnPullOver.setOnClickListener {
+            // 靠边停车
+            CallerAutoPilotControlManager.sendPlanningPullOverCmd(1)
+//          CallerDevaToolsManager.takeOver(PULL_OVER)
+        }
+        btnEmergencyStop.setOnClickListener {
+            // 紧急停车
+            CallerAutoPilotControlManager.sendPlanningPullOverCmd(3)
+//          CallerDevaToolsManager.takeOver(EMERGENCY_STOP)
+        }
+        //接管请求
+        btnTakeOverRequest.setOnClickListener {
+            // takeOverRequest 执行时，避免多次提示
+            if (takeOverRequest) {
+                return@setOnClickListener
+            }
+            // 接管请求提示
+            CallerDevaToolsManager.takeOver(TAKE_OVER_REQUEST)
+            CallerHmiManager.warningV2X(
+                EventTypeEnumNew.TAKE_OVER_EVENT.poiType,
+                EventTypeEnumNew.TAKE_OVER_EVENT.content,
+                EventTypeEnumNew.TAKE_OVER_EVENT.tts,
+                object : IMoGoWarningStatusListener {
+                    override fun onShow() {
+                        takeOverRequest = true
+                        CallerTakeOverManager.invokeTakeOverEvent(true)
+                        //加入消息盒子
+                        CallerMsgBoxManager.saveMsgBox(
+                            MsgBoxBean(
+                                MsgBoxType.AUTOPILOT, AutopilotMsg(
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.poiType.toInt(),
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.content,
+                                    EventTypeEnumNew.TAKE_OVER_EVENT.tts,
+                                    System.currentTimeMillis()
+                                )
+                            )
+                        )
+                    }
+
+                    override fun onDismiss() {
+                        takeOverRequest = false
+                        CallerTakeOverManager.invokeTakeOverEvent(false)
+                    }
+                },expireTime =3000L, isFromObu = false
+            )
+            SoundUtils.playRing(mActivity)
+        }
+        //恢复自动决策
+        btnTakeOverRecover.setOnClickListener {
+            CallerAutoPilotControlManager.sendPlanningLineChangeCmd(4)
+            return@setOnClickListener
+        }
+        //AEB开关
+        tbAeb.isChecked = SPUtils.getInstance().getBoolean("aeb",false)
+        tbAeb.setOnCheckedChangeListener{ compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            CallerAutoPilotControlManager.sendAebCmd(isChecked)
+            SPUtils.getInstance().put("aeb",isChecked)
+        }
+        //绕障开关
+        tbLaneChange.isChecked = SPUtils.getInstance().getBoolean("lane_change",false)
+        tbLaneChange.setOnCheckedChangeListener{ compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            CallerAutoPilotControlManager.sendLaneChangeRestrainValid(isChecked)
+            SPUtils.getInstance().put("lane_change",isChecked)
+        }
+        //停车让行开关
+        tbStopYield.isChecked = SPUtils.getInstance().getBoolean("stop_yield",false)
+        tbStopYield.setOnCheckedChangeListener{ compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            CallerAutoPilotControlManager.sendStopYieldValid(isChecked)
+            SPUtils.getInstance().put("stop_yield",isChecked)
+        }
+        //地图限速开关
+        tbMapSpeed.isChecked = SPUtils.getInstance().getBoolean("map_speed",false)
+        tbMapSpeed.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            CallerAutoPilotControlManager.sendHadmapSpeedLimitValid(isChecked)
+            SPUtils.getInstance().put("map_speed",isChecked)
+        }
+        //环岛模式
+        tbRamp.isChecked = SPUtils.getInstance().getBoolean("ramp",false)
+        tbRamp.setOnCheckedChangeListener { compoundButton, isChecked ->
+            if(!compoundButton.isPressed){
+                return@setOnCheckedChangeListener
+            }
+            CallerAutoPilotControlManager.sendRampThetaValid(isChecked)
+            SPUtils.getInstance().put("ramp",isChecked)
+        }
+
+        mWindowParams = WindowManager.LayoutParams()
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = 700
+            it.height = 900
+            it.alpha = 1.0f
+        }
+
+    }
+
+    @SuppressLint("ClickableViewAccessibility")
+    override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
+        when (motionEvent?.action) {
+            MotionEvent.ACTION_DOWN -> {
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.x
+                mInViewY = motionEvent.y
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY
+            }
+            MotionEvent.ACTION_MOVE -> {
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY
+//                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
+//                    return true
+//                }
+                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
+                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
+            }
+        }
+        return true
+    }
+
+    fun showFloatWindow() {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = metrics.widthPixels
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-1140
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null){
+            mWindowManager!!.removeView(mFloatLayout)
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
index e8829662b7..2531708c98 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
@@ -14,10 +14,12 @@ import com.mogo.eagle.core.data.msgbox.V2XMsg
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoParallelDrivingStatusListener
 import com.mogo.eagle.core.function.api.hmi.warning.IMoGoWarningStatusListener
+import com.mogo.eagle.core.function.api.setting.ITakeOverEventListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerParallelDrivingListenerManager
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager.saveMsgBox
+import com.mogo.eagle.core.function.call.setting.CallerTakeOverManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
@@ -33,7 +35,7 @@ class TakeOverView @JvmOverloads constructor(
     attrs: AttributeSet? = null,
     defStyleAttr: Int = 0
 ) : ConstraintLayout(context, attrs, defStyleAttr), IMoGoAutopilotStatusListener,
-    IMoGoParallelDrivingStatusListener {
+    IMoGoParallelDrivingStatusListener,ITakeOverEventListener {
 
     companion object {
         const val TAG = "TakeOverView"
@@ -54,6 +56,7 @@ class TakeOverView @JvmOverloads constructor(
         super.onAttachedToWindow()
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerParallelDrivingListenerManager.addListener(TAG,this)
+        CallerTakeOverManager.addListener(TAG,this)
     }
 
     override fun onAutopilotStatusResponse(state: Int) {
@@ -169,6 +172,7 @@ class TakeOverView @JvmOverloads constructor(
         super.onDetachedFromWindow()
         CallerAutoPilotStatusListenerManager.removeListener(TAG)
         CallerParallelDrivingListenerManager.removeListener(TAG)
+        CallerTakeOverManager.removeListener(TAG)
     }
 
     /**
@@ -300,4 +304,14 @@ class TakeOverView @JvmOverloads constructor(
         }
     }
 
+    override fun onTakeOverEvent(isShow: Boolean) {
+        ThreadUtils.runOnUiThread {
+            if(isShow){
+                this@TakeOverView.visibility = View.VISIBLE
+            }else{
+                this@TakeOverView.visibility = View.GONE
+            }
+        }
+    }
+
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_seat_pressure_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_seat_pressure_setting.xml
new file mode 100644
index 0000000000..fd4a583b7a
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/bg_seat_pressure_setting.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android"
+    android:shape="rectangle">
+    <corners android:radius="@dimen/dp_20" />
+    <gradient
+        android:startColor="#323C6F"
+        android:endColor="#323C6F"
+        android:angle="315"
+        />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_autopilot_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_autopilot_bg.xml
new file mode 100644
index 0000000000..327aebe0ca
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_autopilot_bg.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:startColor="#A7D3F6"
+        android:endColor="#8C9AFF"
+        />
+    <corners android:radius="20px" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_bg.xml
new file mode 100644
index 0000000000..709e4ede62
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="@color/color_80FFFFFF"/>
+    <corners android:radius="20px" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_press_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_press_bg.xml
new file mode 100644
index 0000000000..46f79035be
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_press_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#FFFFFF"/>
+    <corners android:radius="20px" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/seat_pressure_item_normal_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/seat_pressure_item_normal_bg.xml
new file mode 100644
index 0000000000..69b21b5e56
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/seat_pressure_item_normal_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#80FFFFFF"/>
+    <corners android:radius="@dimen/dp_20" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/seat_pressure_item_press_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/seat_pressure_item_press_bg.xml
new file mode 100644
index 0000000000..a37e58b5b1
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/seat_pressure_item_press_bg.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <gradient
+        android:startColor="#029DFF"
+        android:endColor="#0056FF"
+        />
+    <corners android:radius="@dimen/dp_20" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_seat_pressure_item.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_seat_pressure_item.xml
new file mode 100644
index 0000000000..1095dab9eb
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_seat_pressure_item.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/seat_pressure_item_press_bg" android:state_pressed="true"/>
+    <item android:drawable="@drawable/seat_pressure_item_press_bg" android:state_checked="true"/>
+    <item android:drawable="@drawable/seat_pressure_item_normal_bg" android:state_pressed="false"/>
+    <item android:drawable="@drawable/seat_pressure_item_normal_bg" />
+</selector>
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_take_over_item.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_take_over_item.xml
new file mode 100644
index 0000000000..5c06ad51dd
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_take_over_item.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/remote_take_over_item_press_bg" android:state_pressed="true"/>
+    <item android:drawable="@drawable/remote_take_over_item_press_bg" android:state_checked="true"/>
+    <item android:drawable="@drawable/remote_take_over_item_bg" android:state_pressed="false"/>
+    <item android:drawable="@drawable/remote_take_over_item_bg" />
+</selector>
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml
new file mode 100644
index 0000000000..87d43374c8
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="utf-8"?>
+<androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:app="http://schemas.android.com/apk/res-auto"
+    android:layout_width="@dimen/dp_700"
+    android:layout_height="@dimen/dp_900"
+    android:background="@drawable/bg_remote_take"
+    >
+
+    <Button
+        android:id="@+id/btn_manual_control"
+        style="?android:attr/borderlessButtonStyle"
+        android:layout_width="@dimen/dp_502"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_20"
+        android:background="@drawable/remote_take_over_autopilot_bg"
+        android:gravity="center"
+        android:text="@string/hmi_take_over"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_34"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <Button
+        android:id="@+id/btn_over_take"
+        android:layout_width="@dimen/dp_147"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:background="@drawable/selector_take_over_item"
+        android:gravity="center"
+        android:text="@string/hmi_over_take"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintStart_toStartOf="@+id/btn_manual_control"
+        app:layout_constraintTop_toBottomOf="@+id/btn_manual_control" />
+
+    <Button
+        android:id="@+id/btn_line_to_left"
+        android:layout_width="@dimen/dp_147"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
+        android:text="@string/hmi_line_to_left"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintEnd_toStartOf="@+id/btn_line_to_right"
+        app:layout_constraintStart_toEndOf="@+id/btn_over_take"
+        app:layout_constraintTop_toBottomOf="@+id/btn_manual_control" />
+
+    <Button
+        android:id="@+id/btn_line_to_right"
+        android:layout_width="@dimen/dp_147"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
+        android:text="@string/hmi_line_to_right"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintEnd_toEndOf="@+id/btn_manual_control"
+        app:layout_constraintTop_toBottomOf="@+id/btn_manual_control" />
+
+    <Button
+        android:id="@+id/btn_pull_over"
+        android:layout_width="@dimen/dp_147"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
+        android:text="@string/hmi_pull_over"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintStart_toStartOf="@+id/btn_manual_control"
+        app:layout_constraintTop_toBottomOf="@+id/btn_over_take" />
+
+    <Button
+        android:id="@+id/btn_emergency_stop"
+        android:layout_width="@dimen/dp_147"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
+        android:text="@string/hmi_emergency_stop"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintEnd_toStartOf="@+id/btn_line_to_right"
+        app:layout_constraintStart_toEndOf="@+id/btn_over_take"
+        app:layout_constraintTop_toBottomOf="@+id/btn_line_to_left" />
+
+    <Button
+        android:id="@+id/btn_take_over_request"
+        android:layout_width="@dimen/dp_147"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
+        android:text="@string/hmi_take_over_request"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintEnd_toEndOf="@+id/btn_manual_control"
+        app:layout_constraintTop_toBottomOf="@+id/btn_line_to_right" />
+
+    <Button
+        android:id="@+id/btn_take_over_recover"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
+        android:text="@string/hmi_take_over_recover"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        app:layout_constraintTop_toBottomOf="@+id/btn_emergency_stop"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/tb_lane_change"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_lane_change"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        app:layout_constraintTop_toBottomOf="@id/btn_emergency_stop"
+        app:layout_constraintLeft_toRightOf="@id/btn_take_over_recover"
+        app:layout_constraintRight_toRightOf="parent"
+        android:background="@drawable/selector_take_over_item"
+        android:textOff="@string/hmi_open_lane_change"
+        android:textOn="@string/hmi_close_lane_change"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_aeb"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        app:layout_constraintTop_toBottomOf="@id/tb_lane_change"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/tb_stop_yield"
+        android:background="@drawable/selector_take_over_item"
+        android:textOff="@string/hmi_open_aeb"
+        android:textOn="@string/hmi_close_aeb"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_stop_yield"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        app:layout_constraintTop_toBottomOf="@id/tb_lane_change"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/tb_aeb"
+        android:background="@drawable/selector_take_over_item"
+        android:textOff="@string/hmi_open_stop_yield"
+        android:textOn="@string/hmi_close_stop_yield"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_map_speed"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        app:layout_constraintTop_toBottomOf="@id/tb_aeb"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintRight_toLeftOf="@id/tb_ramp"
+        android:background="@drawable/selector_take_over_item"
+        android:textOff="@string/hmi_open_map_speed"
+        android:textOn="@string/hmi_close_map_speed"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_ramp"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        app:layout_constraintTop_toBottomOf="@id/tb_aeb"
+        app:layout_constraintRight_toRightOf="parent"
+        app:layout_constraintLeft_toRightOf="@id/tb_map_speed"
+        android:background="@drawable/selector_take_over_item"
+        android:textOff="@string/hmi_open_ramp"
+        android:textOn="@string/hmi_close_ramp"
+        android:textColor="#FF181D6D"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        />
+
+</androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_seat_pressure_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_seat_pressure_setting.xml
new file mode 100644
index 0000000000..faffd9c195
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_seat_pressure_setting.xml
@@ -0,0 +1,49 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="wrap_content"
+    android:layout_height="wrap_content"
+    android:orientation="horizontal"
+    android:background="@drawable/bg_seat_pressure_setting"
+    >
+
+    <ToggleButton
+        android:id="@+id/tb_main_driver"
+        android:layout_width="@dimen/dp_180"
+        android:layout_height="@dimen/dp_80"
+        android:textOff="@string/hmi_main_driver"
+        android:textOn="@string/hmi_main_driver"
+        android:textColor="@color/white"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_seat_pressure_item"
+        android:layout_margin="@dimen/dp_20"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_co_driver"
+        android:layout_width="@dimen/dp_180"
+        android:layout_height="@dimen/dp_80"
+        android:textOff="@string/hmi_co_driver"
+        android:textOn="@string/hmi_co_driver"
+        android:textColor="@color/white"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_seat_pressure_item"
+        android:layout_margin="@dimen/dp_20"
+        />
+
+    <ToggleButton
+        android:id="@+id/tb_rear_row"
+        android:layout_width="@dimen/dp_180"
+        android:layout_height="@dimen/dp_80"
+        android:textOff="@string/hmi_rear_row"
+        android:textOn="@string/hmi_rear_row"
+        android:textColor="@color/white"
+        android:textSize="@dimen/sp_30"
+        android:gravity="center"
+        android:background="@drawable/selector_seat_pressure_item"
+        android:layout_margin="@dimen/dp_20"
+        />
+
+
+</LinearLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
index b098a18d10..29f5f47f65 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
@@ -46,7 +46,7 @@
     <color name="foreground_debug">#FF333333</color>
     <color name="foreground_info">#FF333333</color>
     <color name="foreground_warn">#FFCCCCCC</color>
-
+    <color name="color_80FFFFFF">#80FFFFFF</color>
 
 
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
index e5762926be..21b9f6641e 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -130,4 +130,27 @@
 
 
     <string name="road_cross_live_tip">蘑菇为您实时护航中，请放心驾驶！</string>
+
+    <string name="hmi_take_over">人工接管</string>
+    <string name="hmi_over_take">超车</string>
+    <string name="hmi_line_to_left">向左变道</string>
+    <string name="hmi_line_to_right">向右变道</string>
+    <string name="hmi_pull_over">靠边停车</string>
+    <string name="hmi_emergency_stop">应急停车</string>
+    <string name="hmi_take_over_request">接管请求</string>
+    <string name="hmi_take_over_recover">恢复自动决策</string>
+    <string name="hmi_open_lane_change">障碍物模式</string>
+    <string name="hmi_close_lane_change">障碍物模式</string>
+    <string name="hmi_open_aeb">制动模式</string>
+    <string name="hmi_close_aeb">制动模式</string>
+    <string name="hmi_open_stop_yield">停车</string>
+    <string name="hmi_close_stop_yield">停车</string>
+    <string name="hmi_open_map_speed">限速模式</string>
+    <string name="hmi_close_map_speed">限速模式</string>
+    <string name="hmi_open_ramp">环岛模式</string>
+    <string name="hmi_close_ramp">环岛模式</string>
+
+    <string name="hmi_main_driver">主驾</string>
+    <string name="hmi_co_driver">副驾</string>
+    <string name="hmi_rear_row">后排</string>
 </resources>
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt
index 97643d3e2b..d8adb85699 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt
@@ -94,6 +94,10 @@ class PncActionsHelper {
                 YIELD_TO_VEHICLE_COMING_FROM_BEHIND_VALUE -> {
                     if (driveAction == 1) "正在避让后方来车" else ""
                 }
+                // 考试项
+                OUT_OF_ODD_VALUE -> {
+                    if (driveAction == 1 || driveAction == 2 || driveAction == 3) "已超出ODD" else ""
+                }
                 else -> ""
             }
         }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/takeover/TakeOverRetention.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/takeover/TakeOverRetention.kt
new file mode 100644
index 0000000000..8e79bf2af9
--- /dev/null
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/takeover/TakeOverRetention.kt
@@ -0,0 +1,26 @@
+package com.mogo.eagle.core.data.takeover
+
+import androidx.annotation.IntDef
+
+const val MANUAL_CONTROL = 0
+const val OVER_TAKE = 1
+const val LINE_TO_LEFT = 2
+const val LINE_TO_RIGHT = 3
+const val PULL_OVER = 4
+const val EMERGENCY_STOP = 5
+const val TAKE_OVER_REQUEST = 6
+
+@IntDef(
+    MANUAL_CONTROL,
+    OVER_TAKE,
+    LINE_TO_LEFT,
+    LINE_TO_RIGHT,
+    PULL_OVER,
+    EMERGENCY_STOP,
+    TAKE_OVER_REQUEST
+)
+@Retention(AnnotationRetention.SOURCE)
+annotation class TakeOverAnnotation(vararg val type: Int) {
+}
+
+
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
index 0637b9c3ff..2b6729a082 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotControlProvider.kt
@@ -194,6 +194,46 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
      */
     fun sendDetouringSpeed(speed: Double): Boolean
 
+    /**
+     * AEB开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
+     */
+    fun sendAebCmd(isEnable: Boolean): Boolean
+
+    /**
+     * 限制绕障开关
+     * isEnable = true  限制绕障
+     * isEnable = false 正常绕障
+     * @return boolean
+     */
+    fun sendLaneChangeRestrainValid(isEnable: Boolean): Boolean
+
+    /**
+     * 停车让行线前避让等待开关
+     * isEnable = true  停车让行线前需要避让等待
+     * isEnable = false 停车让行线前无需避让等待
+     * @return boolean
+     */
+    fun sendStopYieldValid(isEnable: Boolean): Boolean
+
+    /**
+     * 地图限速功能开关
+     * isEnable = true  使用地图限速功能
+     * isEnable = false 不使用地图限速功能
+     * @return boolean
+     */
+    fun sendHadmapSpeedLimitValid(isEnable: Boolean): Boolean
+
+    /**
+     * 环岛模式开关
+     * isEnable = true  环岛模式
+     * isEnable = false 普通模式
+     * @return boolean
+     */
+    fun sendRampThetaValid(isEnable: Boolean): Boolean
+
     /**
      * 弱网减速停车策略开关
      * isEnable = true  使用弱网减速停车策略
@@ -536,4 +576,16 @@ interface IMoGoAutopilotControlProvider : IMoGoFunctionServerProvider {
     fun sendRoboBusJinlvM1TaskCmd(roboBusJinlvM1Cmd: SpecialVehicleTaskCmdOuterClass.RoboBusJinlvM1Cmd): Boolean
 
     fun sendPlanningCmd(cmd: Int): Boolean
+
+    fun sendPlanningLineChangeCmd(cmd: Int): Boolean
+
+    fun sendPlanningPullOverCmd(pullOverCmd: Int): Boolean
+
+    /**
+     * 设置座椅压力接口
+     * @param driver 主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     */
+    fun sendSeatPressure(driver: Boolean,copilot: Boolean,backRow: Boolean): Boolean
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
index 6c6d2f9a3f..ac721b3ae5 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
@@ -12,6 +12,7 @@ import com.mogo.eagle.core.data.deva.report.WorkOrderReportInfo
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.deva.scene.SceneTAG
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
+import com.mogo.eagle.core.data.takeover.TakeOverAnnotation
 import com.mogo.eagle.core.function.api.devatools.apm.*
 import com.mogo.eagle.core.function.api.devatools.block.*
 import com.mogo.eagle.core.function.api.devatools.strict.*
@@ -321,4 +322,9 @@ interface IDevaToolsProvider : IProvider {
      * 是否开启引导线动效
      */
     fun setRouteDynamicColorEnable(enable: Boolean)
+
+    /**
+     * 接管
+     */
+    fun takeOver(@TakeOverAnnotation takeOverAnnotation: Int)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ISeatPressureEventListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ISeatPressureEventListener.kt
new file mode 100644
index 0000000000..e45c4b5996
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ISeatPressureEventListener.kt
@@ -0,0 +1,10 @@
+package com.mogo.eagle.core.function.api.setting
+
+/**
+ * 座椅压力事件监听回调接口
+ */
+interface ISeatPressureEventListener {
+
+    fun onUpdateBgEvent(isPress: Boolean){}
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ITakeOverEventListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ITakeOverEventListener.kt
new file mode 100644
index 0000000000..6b0859a562
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/setting/ITakeOverEventListener.kt
@@ -0,0 +1,10 @@
+package com.mogo.eagle.core.function.api.setting
+
+/**
+ * 座椅压力事件监听回调接口
+ */
+interface ITakeOverEventListener {
+
+    fun onTakeOverEvent(isShow: Boolean){}
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index 3cd08a6536..3be3e4ce7c 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -382,6 +382,56 @@ object CallerAutoPilotControlManager {
         return providerApi?.sendDetouringSpeed(speed)
     }
 
+    /**
+     * AEB开关
+     * isEnable = true  开启
+     * isEnable = false 关闭
+     * @return boolean
+     */
+    fun sendAebCmd(isEnable: Boolean): Boolean?{
+        return providerApi?.sendAebCmd(isEnable)
+    }
+
+    /**
+     * 限制绕障开关
+     * isEnable = true  限制绕障
+     * isEnable = false 正常绕障
+     * @return boolean
+     */
+    fun sendLaneChangeRestrainValid(isEnable: Boolean): Boolean?{
+        return providerApi?.sendLaneChangeRestrainValid(isEnable)
+    }
+
+    /**
+     * 停车让行线前避让等待开关
+     * isEnable = true  停车让行线前需要避让等待
+     * isEnable = false 停车让行线前无需避让等待
+     * @return boolean
+     */
+    fun sendStopYieldValid(isEnable: Boolean): Boolean?{
+        return providerApi?.sendStopYieldValid(isEnable)
+    }
+
+    /**
+     * 地图限速功能开关
+     * isEnable = true  使用地图限速功能
+     * isEnable = false 不使用地图限速功能
+     * @return boolean
+     */
+    fun sendHadmapSpeedLimitValid(isEnable: Boolean): Boolean?{
+        return providerApi?.sendHadmapSpeedLimitValid(isEnable)
+    }
+
+    /**
+     * 环岛模式开关
+     * isEnable = true  环岛模式
+     * isEnable = false 普通模式
+     * @return boolean
+     */
+    fun sendRampThetaValid(isEnable: Boolean): Boolean?{
+        return providerApi?.sendRampThetaValid(isEnable)
+    }
+
     /**
      * 弱网减速停车策略开关
      * isEnable = true  使用弱网减速停车策略
@@ -841,4 +891,22 @@ object CallerAutoPilotControlManager {
     fun sendPlanningCmd(cmd: Int): Boolean {
         return providerApi?.sendPlanningCmd(cmd) ?: false
     }
+
+    fun sendPlanningLineChangeCmd(cmd: Int): Boolean {
+        return providerApi?.sendPlanningLineChangeCmd(cmd) ?: false
+    }
+
+    fun sendPlanningPullOverCmd(pullOverCmd: Int): Boolean{
+        return providerApi?.sendPlanningPullOverCmd(pullOverCmd)?: false
+    }
+
+    /**
+     * 设置座椅压力接口
+     * @param driver 主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     */
+    fun sendSeatPressure(driver: Boolean,copilot: Boolean,backRow: Boolean): Boolean?{
+        return providerApi?.sendSeatPressure(driver, copilot, backRow)
+    }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
index 483d032529..c04b727233 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -13,6 +13,7 @@ import com.mogo.eagle.core.data.deva.report.WorkOrderReportInfo
 import com.mogo.eagle.core.data.deva.scene.SceneModule
 import com.mogo.eagle.core.data.deva.scene.SceneTAG
 import com.mogo.eagle.core.data.msgbox.MsgBoxBean
+import com.mogo.eagle.core.data.takeover.TakeOverAnnotation
 import com.mogo.eagle.core.function.api.devatools.IDevaToolsProvider
 import com.mogo.eagle.core.function.api.devatools.block.*
 import com.mogo.eagle.core.function.api.devatools.download.*
@@ -400,4 +401,11 @@ object CallerDevaToolsManager {
     fun setRouteDynamicColorEnable(enable: Boolean) {
         devaToolsProviderApi?.setRouteDynamicColorEnable(enable)
     }
+
+    /**
+     * 接管
+     */
+    fun takeOver(@TakeOverAnnotation takeOverAnnotation: Int) {
+        devaToolsProviderApi?.takeOver(takeOverAnnotation)
+    }
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerSeatPressureManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerSeatPressureManager.kt
new file mode 100644
index 0000000000..f3e6fc8d7b
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerSeatPressureManager.kt
@@ -0,0 +1,20 @@
+package com.mogo.eagle.core.function.call.setting
+
+import com.mogo.eagle.core.function.api.setting.ISeatPressureEventListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+import java.util.concurrent.ConcurrentHashMap
+
+/**
+ * 座椅压力事件监听管理
+ */
+object CallerSeatPressureManager: CallerBase<ISeatPressureEventListener>() {
+
+    fun invokeUpdateBgEvent(isPress: Boolean){
+        M_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onUpdateBgEvent(isPress)
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerTakeOverManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerTakeOverManager.kt
new file mode 100644
index 0000000000..914a48925a
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/setting/CallerTakeOverManager.kt
@@ -0,0 +1,19 @@
+package com.mogo.eagle.core.function.call.setting
+
+import com.mogo.eagle.core.function.api.setting.ITakeOverEventListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 接管请求事件监听管理
+ */
+object CallerTakeOverManager: CallerBase<ITakeOverEventListener>() {
+
+    fun invokeTakeOverEvent(isShow: Boolean){
+        M_LISTENERS.forEach {
+            val tag = it.key
+            val listener = it.value
+            listener.onTakeOverEvent(isShow)
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_seat_pressure.png b/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_seat_pressure.png
new file mode 100644
index 0000000000..a8b05eb17e
Binary files /dev/null and b/core/mogo-core-res/src/main/res/drawable-xhdpi/icon_seat_pressure.png differ
diff --git a/core/mogo-core-res/src/main/res/drawable/bg_remote_take.9.png b/core/mogo-core-res/src/main/res/drawable/bg_remote_take.9.png
new file mode 100644
index 0000000000..3b4d8ad35d
Binary files /dev/null and b/core/mogo-core-res/src/main/res/drawable/bg_remote_take.9.png differ
diff --git a/core/mogo-core-res/src/main/res/values/dimens.xml b/core/mogo-core-res/src/main/res/values/dimens.xml
index 2b72295b83..aa3fbd6092 100644
--- a/core/mogo-core-res/src/main/res/values/dimens.xml
+++ b/core/mogo-core-res/src/main/res/values/dimens.xml
@@ -1035,6 +1035,7 @@
     <dimen name="dp_1125">1125dp</dimen>
     <dimen name="dp_1170">1170dp</dimen>
     <dimen name="dp_1200">1200dp</dimen>
+    <dimen name="dp_1250">1250dp</dimen>
     <dimen name="dp_1261">1261dp</dimen>
     <dimen name="dp_1300">1300dp</dimen>
     <dimen name="dp_1373">1373dp</dimen>
diff --git a/gradle.properties b/gradle.properties
index 847e501bf1..946e1159ba 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -90,8 +90,8 @@ WEBSOCKET_VERSION=1.1.7
 applicationId=com.mogo.launcer
 applicationName=IntelligentPilot
 # RoboBus司机端：2.5.1；RoboTaxi司机端：2.5.1；RoboTaxi乘客端：1.0.0
-versionCode=6005000
-versionName=6.5.0
+versionCode=6005002
+versionName=6.5.2
 
 ################# 新架构模块Maven版本管理 #################
 MOGO_CORE_FUNCTION_HMI_VERSION=0.0.58.10
@@ -149,7 +149,7 @@ MATRIX_VERSION=2.0.8
 
 
 # 公交模式司机端版本号
-DRIVER_VERSION=6.5.0
+DRIVER_VERSION=6.5.2
 # 公交模式乘客端端版本号
 PASSENGER_VERSION=5.5.0
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
index 453817e594..9ed942d3ff 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasChannel.java
@@ -14,6 +14,7 @@ import static com.zhidao.support.adas.high.chain.AdasChain.CHAIN_TYPE_SOCKET_AUT
 import android.content.Context;
 import android.os.SystemClock;
 import android.text.TextUtils;
+import android.util.Log;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
@@ -2397,6 +2398,40 @@ public class AdasChannel implements IAdasNetCommApi, FpgaSocket.IWebSocketConnec
         return sendSetParamReq(AdasConstants.MapSystemParamType.RAMP_THETA_VALID_VALUE, String.valueOf(enable));
     }
 
+    /**
+     * 座椅压力
+     * TODO 目前仅襄阳牌照考试支持
+     *
+     * @param driver  主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     * @return boolean
+     */
+    @Override
+    public long sendSeatPressure(boolean driver, boolean copilot, boolean backRow) {
+        Log.i(TAG, "主驾是否有人=" + driver + " 副驾是否有人=" + copilot + " 后排是否有人=" + backRow);
+        int value = 255;
+        if (driver && !copilot && !backRow) {
+            value = 0;
+        } else if (!driver && copilot && !backRow) {
+            value = 1;
+        } else if (driver && copilot && !backRow) {
+            value = 2;
+        } else if (!driver && !copilot && backRow) {
+            value = 3;
+        } else if (driver && !copilot && backRow) {
+            value = 4;
+        } else if (!driver && copilot && backRow) {
+            value = 5;
+        } else if (driver && copilot && backRow) {
+            value = 6;
+        } else if (!driver && !copilot && !backRow) {
+            value = 7;
+        }
+        Log.i(TAG, "\n0:表示仅主驾位有人\n1:表示仅副驾位有人\n2:表示主驾和副驾同时有人\n3:表示仅后排有人\n4:表示主驾有人+后排有人\n5:表示副驾有人+后排有人\n6:表示主驾和副驾同时有人+后排有人\n7: 所有座位都无人\n255:缺省\n下发数据=" + value);
+        return sendSetParamReq(15, String.valueOf(value));
+    }
+
     /**
      * 弱网减速停车策略开关
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
index a8210cd5c8..35ceab29cd 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/AdasManager.java
@@ -935,6 +935,20 @@ public class AdasManager implements IAdasNetCommApi {
         return mChannel == null ? -1L : mChannel.sendPlanningLaneChangeCmd(laneChangeCmd);
     }
 
+    /**
+     * 座椅压力
+     * TODO 目前仅襄阳牌照考试支持
+     *
+     * @param driver  主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     * @return boolean
+     */
+    @Override
+    public long sendSeatPressure(boolean driver, boolean copilot, boolean backRow) {
+        return mChannel == null ? -1L : mChannel.sendSeatPressure(driver, copilot, backRow);
+    }
+
     /**
      * 给Planning发送指令
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
index 426b3c4a06..113b46e1c4 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/IAdasNetCommApi.java
@@ -892,6 +892,17 @@ public interface IAdasNetCommApi {
      */
     long sendRampThetaValid(int enable);
 
+    /**
+     * 座椅压力
+     *  TODO 目前仅襄阳牌照考试支持
+     *
+     * @param driver  主驾是否有人
+     * @param copilot 副驾是否有人
+     * @param backRow 后排是否有人
+     * @return boolean
+     */
+    long sendSeatPressure(boolean driver, boolean copilot, boolean backRow);
+
     /**
      * 弱网减速停车策略开关
      * 此方法存在域控回执，监听{@link OnAdasListener#onReceiveReceivedAck(ReceivedAck)}回调.使用方法：将此方法的返回值与{@link ReceivedAck#getMsgId()}进行比较，如果相同判断{@link ReceivedAck#getStatus()}是否等于{@link ReceivedAck.Status#NORMAL}，详情参见CheckSystemView中的onReceiveReceivedAck
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java
index 5e762dc21e..a9abbfc9bb 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/chain/AdasChain.java
@@ -16,6 +16,7 @@ public class AdasChain {
 
     //operation by user
     public static final String CHAIN_CODE_ADAS_START_AUTOPILOT = "CHAIN_CODE_ADAS_START_AUTOPILOT";
+    public static final String CHAIN_CODE_ADAS_SEND_PLANNING_CMD = "CHAIN_CODE_ADAS_SEND_PLANNING_CMD";
     public static final String CHAIN_CODE_ADAS_SEND_GLOBAL_PATH = "CHAIN_CODE_ADAS_SEND_GLOBAL_PATH";
     public static final String CHAIN_CODE_ADAS_SEND_SYSTEM_CMD = "CHAIN_CODE_ADAS_SEND_SYSTEM_CMD";
     public static final String CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD = "CHAIN_CODE_ADAS_SEND_TRAJECTORY_DOWNLOAD";