diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
index 9dc79238ae..a6f3aa85bf 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -432,7 +432,9 @@ public class BusPassengerModel {
                     //要前往的站在轨迹中对应的点
                     int nextRouteIndex = CoordinateCalculateRouteUtil.getArrivedPointIndex(mRoutePoints
                             ,stationNext.getGcjLon(),stationNext.getGcjLat());
-                    mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex,nextRouteIndex));
+                    if (currentRouteIndex < nextRouteIndex){ //如果找到的next在起点的轨迹前面，直接舍弃这个轨迹，不显示
+                        mTwoStationsRouts.addAll(mRoutePoints.subList(currentRouteIndex,nextRouteIndex));
+                    }
                 }
             }else { //只有两个站点的时候整个路线就是两个站点之间的轨迹
                 mTwoStationsRouts.clear();
diff --git a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
index a663e20563..f4ba291f5c 100644
--- a/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
+++ b/OCH/mogo-och-bus-passenger/src/main/java/com/mogo/och/bus/passenger/ui/BusPassengerMapDirectionView.java
@@ -57,8 +57,8 @@ public class BusPassengerMapDirectionView
     private int mCurrentIndex = -1;
 
     private int zoomLevel = 13;
-    private List<LatLng> mCoordinatesLatLng = new ArrayList<>();
-    private List<LatLng> mLinePointsLatLng = new ArrayList<>();
+    private List<LatLng> mCoordinatesLatLng = new ArrayList<>(); //站点坐标数据
+    private List<LatLng> mLinePointsLatLng = new ArrayList<>(); //轨迹坐标数据
     private Polyline mPolyline;
     private CameraUpdate mCameraUpdate;
     private Context mContext;
@@ -197,7 +197,7 @@ public class BusPassengerMapDirectionView
             mCarMarker.setToTop();
         }
 
-        if (mLinePointsLatLng.size() > 1){
+        if (mLinePointsLatLng.size() > 0){
             //圈定地图显示范围
             //存放经纬度
             LatLngBounds.Builder boundsBuilder = new LatLngBounds.Builder();
@@ -208,12 +208,13 @@ public class BusPassengerMapDirectionView
             //第二个参数为四周留空宽度
              mAMap.moveCamera(CameraUpdateFactory.newLatLngBoundsRect(boundsBuilder.build(),100,100,100,100));
 
-        }else {
-            //设置希望展示的地图缩放级别
-            CameraPosition cameraPosition = new CameraPosition.Builder()
-                    .target(mCarMarker.getPosition()).tilt(0).bearing(location.getBearing()).zoom(zoomLevel).build();
-            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
         }
+//        else {
+//            //设置希望展示的地图缩放级别
+//            CameraPosition cameraPosition = new CameraPosition.Builder()
+//                    .target(mCarMarker.getPosition()).tilt(0).bearing(location.getBearing()).zoom(zoomLevel).build();
+//            mAMap.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition));
+//        }
     }
 
 
@@ -368,7 +369,7 @@ public class BusPassengerMapDirectionView
         mLinePointsLatLng.clear();
         mLinePointsLatLng.addAll(routeLineLatLngs);
 
-        if (mCoordinatesLatLng.size() > 0 && mCurrentIndex != currentIndex) {
+        if (mLinePointsLatLng.size() > 0 && mCurrentIndex != currentIndex) {
             if (mAMap != null && mLineMarkers.size() > 0) {
                 mCurrentIndex = currentIndex;
                 for (int i = 0; i < mLineMarkers.size(); i++) {
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IRefreshBusStationsCallback.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IRefreshBusStationsCallback.java
index ae4a8b9713..40ea27c44a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IRefreshBusStationsCallback.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IRefreshBusStationsCallback.java
@@ -10,4 +10,5 @@ import java.util.List;
  */
 public interface IRefreshBusStationsCallback {
     void refreshBusStations(String lineName,List<BusStationBean> stationList, int currentStation, int nextStation, boolean isArrived);
+    void clearBusStationsMarkers();
 }
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
index 645690253e..7278755f1a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BusFragment.java
@@ -317,14 +317,19 @@ public class BusFragment extends BaseBusTabFragment<BusFragment, BusPresenter>
             hideSlidePanel();
             hidPanel();
             //移除起点终点
-            if (null != startStation) {
-                setOrRemoveMapMaker(false, BusConst.BUS_START_MAP_MAKER, startStation.getLat()
-                        , startStation.getLon(),R.raw.star_marker);
-            }
-            if (null != endStation) {
-                setOrRemoveMapMaker(false, BusConst.BUS_END_MAP_MAKER, endStation.getLat()
-                        , endStation.getLon(),R.raw.end_marker);
-            }
+            clearBusStationsMarkers();
+        }
+    }
+
+    public void clearBusStationsMarkers(){
+        CallerLogger.INSTANCE.d(M_BUS + TAG,"clearBusStationsMarkers()");
+        if (null != startStation) {
+            setOrRemoveMapMaker(false, BusConst.BUS_START_MAP_MAKER, startStation.getLat()
+                    , startStation.getLon(),R.raw.star_marker);
+        }
+        if (null != endStation) {
+            setOrRemoveMapMaker(false, BusConst.BUS_END_MAP_MAKER, endStation.getLat()
+                    , endStation.getLon(),R.raw.end_marker);
         }
     }
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index 030b25eb34..54e2773b9e 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -819,6 +819,12 @@ public class BusOrderModel {
         BusTrajectoryManager.getInstance().syncTrajectoryInfo();
     }
 
+    public void clearBusStationDatas(){
+        if (refreshBusStationsCallback != null){
+            refreshBusStationsCallback.clearBusStationsMarkers();
+        }
+    }
+
     /**
      * 根据订单状态、获取下一站靠站的的站点
      *
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
index c2f6fb57da..bafd9f298b 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusLinePresenter.java
@@ -53,6 +53,7 @@ public class BusLinePresenter extends Presenter<BusSwitchLineView> implements IB
 
     @Override
     public void onChangeLineIdSuccess() {
+        BusOrderModel.getInstance().clearBusStationDatas();
         runOnUIThread(() -> mView.onChangeLineIdSuccess());
     }
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index 6ea7f617c4..15b161f032 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -137,6 +137,11 @@ public class BusPresenter extends Presenter<BusFragment>
         }
     }
 
+    @Override
+    public void clearBusStationsMarkers() {
+        runOnUIThread(() -> mView.clearBusStationsMarkers());
+    }
+
     private void functionDemoModeChange() {
 //        CallerLogger.INSTANCE.d(M_BUS + "BusOrderModel ="," functionDemoModeChange ="+mCurrentStation);
         if (FunctionBuildConfig.isDemoMode
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index d073bbc7c5..873e27282b 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -866,6 +866,7 @@ public class TaxiModel {
 
     //清除订单信息
     public void clearCurrentOCHOrder() {
+        startOrStopCalculateRouteInfo(false);
         mCurrentOCHOrder = null;
         TaxiTrajectoryManager.getInstance().syncTrajectoryInfo();
         SharedPrefsMgr.getInstance(mContext).remove(TaxiConst.SP_KEY_OCH_TAXI_ORDER);
@@ -1415,7 +1416,7 @@ public class TaxiModel {
             TaxiModelLoopManager.getInstance().startCalculateRouteInfoLoop();
         } else {
             mRoutePoints.clear();
-            TaxiModelLoopManager.getInstance().stopCalculateRouteInfLoop();
+            TaxiModelLoopManager.getInstance().stopCalculateRouteInfoLoop();
         }
     }
 
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModelLoopManager.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModelLoopManager.java
index 63f281cacf..3a771ca3ae 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModelLoopManager.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModelLoopManager.java
@@ -166,9 +166,9 @@ public class TaxiModelLoopManager {
         });
     }
 
-    public void stopCalculateRouteInfLoop() {
+    public void stopCalculateRouteInfoLoop() {
         if (mCalculateRouteDisposable != null) {
-            CallerLogger.INSTANCE.i(M_TAXI + TAG, "stopCalculateRouteInfLoop()");
+            CallerLogger.INSTANCE.i(M_TAXI + TAG, "stopCalculateRouteInfoLoop()");
             mCalculateRouteDisposable.dispose();
             mCalculateRouteDisposable = null;
         }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
index 305a7372c8..af84d17295 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -13,6 +13,8 @@ import android.widget.TextView;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.annotation.RequiresApi;
+import androidx.fragment.app.DialogFragment;
+import androidx.fragment.app.Fragment;
 import androidx.fragment.app.FragmentTransaction;
 
 import com.mogo.commons.debug.DebugConfig;
@@ -381,8 +383,15 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
     }
 
     public void showLoginDialogFragment(){
-        CallerLogger.INSTANCE.d(M_TAXI + TAG,"showLoginDialogFragment 展示登录界面");
         CallerHmiManager.INSTANCE.hideToolsView();
+        Fragment fragmentByTag = getParentFragmentManager().findFragmentByTag(TaxiLoginDialogFragment.Companion.getTAG());
+        if(fragmentByTag instanceof DialogFragment){
+            DialogFragment dialogFragment = (DialogFragment)fragmentByTag;
+            if(dialogFragment.getDialog()!=null&&dialogFragment.getDialog().isShowing()){
+                return;
+            }
+        }
+
         if(taxiLoginDialogFragment==null||taxiLoginDialogFragment.get()==null) {
             taxiLoginDialogFragment = new WeakReference<>(TaxiLoginDialogFragment.newInstance());
         }
@@ -394,7 +403,8 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
             if (taxiLoginDialog.isAdded()) {//解决方法就是添加这行代码，如果已经添加了，就移除掉然后再show，就不会出现Fragment already added的错误了。
                 getParentFragmentManager().beginTransaction().remove(taxiLoginDialog).commitAllowingStateLoss();
             }
-            taxiLoginDialog.show(getParentFragmentManager(), taxiLoginDialog.getTag());
+            CallerLogger.INSTANCE.d(M_TAXI + TAG,"showLoginDialogFragment 展示登录界面");
+            taxiLoginDialog.show(getParentFragmentManager(), TaxiLoginDialogFragment.Companion.getTAG());
             taxiLoginDialog.setOnDismissListener(dialog -> {
                 taxiLoginDialogFragment.clear();
                 mPresenter.queryLoginStatus();
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiLoginDialogFragment.kt b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiLoginDialogFragment.kt
index e9cd5ce680..1697eee8e7 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiLoginDialogFragment.kt
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiLoginDialogFragment.kt
@@ -230,7 +230,7 @@ class TaxiLoginDialogFragment : MvpDialogFragment<TaxiLoginDialogFragment?, Taxi
 
 
     companion object {
-        private val TAG = TaxiLoginDialogFragment::class.java.simpleName
+        val TAG = TaxiLoginDialogFragment::class.java.simpleName
 
         @JvmStatic
         fun newInstance(): TaxiLoginDialogFragment {
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
index 52271dd4ab..0029d8a55e 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasMsgConnectStatusListenerImpl.kt
@@ -22,11 +22,9 @@ import com.zhidao.support.adas.high.common.Constants
 import com.zhidao.support.adas.high.common.Constants.ENVIRONMENT.*
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.DRIVER
 import com.zhidao.support.adas.high.common.Constants.TERMINAL_ROLE.PASSENGER
-import io.reactivex.Flowable
-import io.reactivex.android.schedulers.AndroidSchedulers
-import io.reactivex.schedulers.Schedulers
 import mogo.telematics.pad.MessagePad
-import java.util.concurrent.TimeUnit
+import java.util.*
+import java.util.concurrent.atomic.*
 
 /**
  * ADAS-SDK与工控机连接状态回调
@@ -43,6 +41,10 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
 
     private var connectStatus = false
 
+    private val hasUploadTaskLaunched by lazy { AtomicBoolean(false) }
+
+    private val timer = Timer()
+
     init {
         CallerCloudListenerManager.registerCloudListener(TAG, this)
     }
@@ -167,15 +169,16 @@ class MoGoAdasMsgConnectStatusListenerImpl : OnAdasConnectStatusListener,
      */
     @SuppressLint("CheckResult")
     private fun updateDriveStatusTask() {
-        CallerLogger.d("$M_ADAS_IMPL$TAG", "updateDriveStatusTask")
-        Flowable.interval(0, 5, TimeUnit.SECONDS)
-            .subscribeOn(Schedulers.io())
-            .unsubscribeOn(Schedulers.io())
-            .observeOn(AndroidSchedulers.mainThread())
-            .subscribe {
-                AdasServiceModel.getInstance()
-                    .updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
-            }
+        if (hasUploadTaskLaunched.compareAndSet(false, true)) {
+            timer.schedule(object : TimerTask() {
+                override fun run() {
+                    CallerLogger.d("$M_ADAS_IMPL$TAG", "updateDriveStatusTask")
+                    AdasServiceModel.getInstance()
+                        .updateDriveStatus(mCurrentAutopilotStatus, mCurrentAutopilotSpeed)
+                }
+            }, 0, 5000)
+        }
+
     }
 
     override fun tokenGot(sn: String) {
diff --git a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
index 64b46354f2..b2ea3362a4 100644
--- a/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
+++ b/core/function-impl/mogo-core-function-v2x/src/main/java/com/mogo/eagle/core/function/v2x/events/scenario/scene/road/V2XRoadEventMarker.java
@@ -92,33 +92,33 @@ public class V2XRoadEventMarker implements IV2XMarker<V2XRoadEventEntity> {
                                         }
                                     }
 
-                                    if (polygons.size() > 1) {
-                                        if (overlayManager == null) {
-                                            overlayManager = MogoOverlayManager.getInstance();
-                                        }
-                                        MogoPolylineOptions options = new MogoPolylineOptions();
-                                        List<Integer> colors = new ArrayList<>();
-                                        colors.add(Color.argb(204, 237, 172, 21));
-                                        colors.add(Color.argb(0, 255, 255, 255));
-                                        options.colorValues(colors);
-                                        List<MogoLatLng> points = new ArrayList<>();
-                                        for (int i = 0; i < polygons.size(); i++) {
-                                            Pair<Double, Double> p = polygons.get(i);
-                                            points.add(new MogoLatLng(p.second, p.first));
-                                        }
-                                        if (points.size() > 2) {
-                                            points.add(points.get(0));
-                                        }
-                                        options.points(points);
-                                        options.useGradient(true);
-                                        options.useFacade(true);
-                                        options.setGps(false);
-                                        options.width(5f);
-                                        options.zIndex(75000f);
-                                        options.maxIndex(800000f);
-                                        polyline = overlayManager.addPolyline(options);
-                                        polyline.setVisible(true);
-                                    }
+//                                    if (polygons.size() > 1) {
+//                                        if (overlayManager == null) {
+//                                            overlayManager = MogoOverlayManager.getInstance();
+//                                        }
+//                                        MogoPolylineOptions options = new MogoPolylineOptions();
+//                                        List<Integer> colors = new ArrayList<>();
+//                                        colors.add(Color.argb(204, 237, 172, 21));
+//                                        colors.add(Color.argb(0, 255, 255, 255));
+//                                        options.colorValues(colors);
+//                                        List<MogoLatLng> points = new ArrayList<>();
+//                                        for (int i = 0; i < polygons.size(); i++) {
+//                                            Pair<Double, Double> p = polygons.get(i);
+//                                            points.add(new MogoLatLng(p.second, p.first));
+//                                        }
+//                                        if (points.size() > 2) {
+//                                            points.add(points.get(0));
+//                                        }
+//                                        options.points(points);
+//                                        options.useGradient(true);
+//                                        options.useFacade(true);
+//                                        options.setGps(false);
+//                                        options.width(5f);
+//                                        options.zIndex(75000f);
+//                                        options.maxIndex(800000f);
+//                                        polyline = overlayManager.addPolyline(options);
+//                                        polyline.setVisible(true);
+//                                    }
                                 }
                             }
                         }