diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/callback/ADASCallback.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/callback/ADASCallback.kt
new file mode 100644
index 0000000000..217f03740f
--- /dev/null
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/callback/ADASCallback.kt
@@ -0,0 +1,10 @@
+package com.mogo.och.bus.passenger.callback
+
+/**
+ * @author: wangmingjun
+ * @date: 2023/2/15
+ */
+interface ADASCallback {
+    fun updateHDMapStations(stations: MutableList<MutableList<Double>>)
+    fun removeHDMapStations()
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/URLConst.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/M2Const.kt
similarity index 56%
rename from OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/URLConst.kt
rename to OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/M2Const.kt
index fb143e1bda..4e7d77c691 100644
--- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/URLConst.kt
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/constant/M2Const.kt
@@ -7,8 +7,14 @@ import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 /**
  * Created on 2021/12/6
  */
-class URLConst {
+class M2Const {
     companion object {
+        //站点UUID
+        const val M2_MAP_STATION_MAKER = "m2_map_station_maker"
 
+        /**
+         * Marker类型
+         */
+        const val TYPE_MARKER_M2_LINE = "TYPE_MARKER_M2_LINE"
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2ADASModel.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2ADASModel.kt
index 995bcc324f..a21f2fd938 100644
--- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2ADASModel.kt
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2ADASModel.kt
@@ -1,8 +1,46 @@
 package com.mogo.och.bus.passenger.model
 
+import android.content.Context
+import com.amap.api.maps.model.LatLng
+import com.mogo.och.bus.passenger.bean.PM2Station
+import com.mogo.och.bus.passenger.callback.ADASCallback
+
 /**
  * @author: wangmingjun
  * @date: 2023/2/2
  */
-class PM2ADASModel {
+class PM2ADASModel private constructor() {
+
+    private var mContext: Context? = null
+    private var mAdasCallback: ADASCallback? = null
+
+    companion object {
+        val TAG = PM2ADASModel::class.java.simpleName
+        val INSTANCE: PM2ADASModel by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
+            PM2ADASModel()
+        }
+    }
+
+    fun init(context : Context){
+        this.mContext = context
+    }
+
+    fun setAdasCallback(adasCallback: ADASCallback?){
+        this.mAdasCallback = adasCallback
+    }
+
+    fun updateHDMapStations(stations: MutableList<PM2Station>){
+        var stationsList = mutableListOf<MutableList<Double>>()
+        for (i in stations.indices){
+            var listLatLng = mutableListOf<Double>() // 0: long 1:lat
+            listLatLng.add(stations[i].lon)
+            listLatLng.add(stations[i].lat)
+            stationsList.add(listLatLng)
+        }
+        mAdasCallback?.updateHDMapStations(stationsList)
+    }
+
+    fun removeHDMapStations(){
+        mAdasCallback?.removeHDMapStations()
+    }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
index 72de3ef1de..0dfdf815ed 100644
--- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
@@ -107,7 +107,7 @@ class PM2DrivingModel private constructor() {
         mDrivingInfoCallback = drivingInfoCallback
     }
 
-    fun setAutoStatusCallback(autoPilotStatusCallback: AutoPilotStatusCallback){
+    fun setAutoStatusCallback(autoPilotStatusCallback: AutoPilotStatusCallback?){
         mAutoStatusCallback = autoPilotStatusCallback
     }
 
diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2ADASPresenter.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2ADASPresenter.kt
index 11f0df02ad..de47518d3b 100644
--- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2ADASPresenter.kt
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2ADASPresenter.kt
@@ -1,7 +1,41 @@
 package com.mogo.och.bus.passenger.presenter
 
+import androidx.lifecycle.LifecycleOwner
 import com.mogo.commons.mvp.Presenter
+import com.mogo.och.bus.passenger.callback.ADASCallback
+import com.mogo.och.bus.passenger.constant.M2Const.Companion.M2_MAP_STATION_MAKER
+import com.mogo.och.bus.passenger.model.PM2ADASModel
 import com.mogo.och.bus.passenger.ui.PM2HPMapFragment
 
 class PM2ADASPresenter(view: PM2HPMapFragment?) :
-    Presenter<PM2HPMapFragment?>(view)
\ No newline at end of file
+    Presenter<PM2HPMapFragment?>(view), ADASCallback {
+
+    init {
+            PM2ADASModel.INSTANCE.init(context)
+            initListener()
+    }
+
+    private fun initListener() {
+        PM2ADASModel.INSTANCE.setAdasCallback(this)
+    }
+
+    private fun removeListener() {
+        PM2ADASModel.INSTANCE.setAdasCallback(null)
+    }
+
+    override fun onDestroy(owner: LifecycleOwner) {
+        super.onDestroy(owner)
+        removeListener()
+    }
+
+    override fun updateHDMapStations(stations: MutableList<MutableList<Double>>) {
+        for (i in stations.indices){
+            mView?.setMapMaker(M2_MAP_STATION_MAKER,stations[i])
+        }
+
+    }
+
+    override fun removeHDMapStations() {
+        mView?.removeMapMaker(M2_MAP_STATION_MAKER)
+    }
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2DrivingPresenter.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2DrivingPresenter.kt
index 3b97f18573..afee8afff1 100644
--- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2DrivingPresenter.kt
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/presenter/PM2DrivingPresenter.kt
@@ -6,6 +6,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.bus.passenger.bean.PM2Station
 import com.mogo.och.bus.passenger.callback.AutoPilotStatusCallback
 import com.mogo.och.bus.passenger.callback.DrivingInfoCallback
+import com.mogo.och.bus.passenger.model.PM2ADASModel
 import com.mogo.och.bus.passenger.model.PM2DrivingModel
 import com.mogo.och.bus.passenger.ui.PM2DrivingInfoFragment
 
@@ -14,11 +15,13 @@ class PM2DrivingPresenter(view: PM2DrivingInfoFragment?) :
 
     init {
         PM2DrivingModel.INSTANCE.init(context)
+        PM2ADASModel.INSTANCE.init(context)
         initListener()
     }
 
     override fun onDestroy(owner: LifecycleOwner) {
         super.onDestroy(owner)
+        destroyListener()
         PM2DrivingModel.INSTANCE.releaseListener()
     }
 
@@ -29,6 +32,7 @@ class PM2DrivingPresenter(view: PM2DrivingInfoFragment?) :
 
     private fun  destroyListener(){
         PM2DrivingModel.INSTANCE.setDrivingInfoCallback(null)
+        PM2DrivingModel.INSTANCE.setAutoStatusCallback(null)
     }
 
     override fun updateSpeed(speed: Int) {
@@ -64,12 +68,16 @@ class PM2DrivingPresenter(view: PM2DrivingInfoFragment?) :
         UiThreadHandler.post {
             mView?.showNoTaskView(!isTrue)
         }
+        if (isTrue){
+            PM2ADASModel.INSTANCE.removeHDMapStations()
+        }
     }
 
     override fun updateLineStations(stations: MutableList<PM2Station>) {
         UiThreadHandler.post {
             mView?.updateLineStations(stations)
         }
+        PM2ADASModel.INSTANCE.updateHDMapStations(stations)
     }
 
     override fun updateAutoStatus(isOpen: Boolean) {
diff --git a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt
index 4d5d444963..1ff42aecf5 100644
--- a/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt
+++ b/OCH/mogo-och-bus-passenger/src/m2/java/com/mogo/och/bus/passenger/ui/PM2HPMapFragment.kt
@@ -1,8 +1,16 @@
 package com.mogo.och.bus.passenger.ui
 
+import com.mogo.commons.AbsMogoApplication
 import com.mogo.commons.mvp.MvpFragment
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMapUIController
+import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager.getMarkerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.map.marker.MogoMarkerOptions
 import com.mogo.och.bus.passenger.R
+import com.mogo.och.bus.passenger.constant.M2Const.Companion.TYPE_MARKER_M2_LINE
 import com.mogo.och.bus.passenger.presenter.PM2ADASPresenter
+import com.mogo.och.common.module.utils.OCHThreadPoolManager
+import java.util.*
 
 /**
  * @author: wangmingjun
@@ -34,4 +42,54 @@ class PM2HPMapFragment :
     companion object {
         private val TAG = PM2HPMapFragment::class.java.simpleName
     }
+
+    fun setMapMaker(
+        uuid: String,
+        station: MutableList<Double>,
+    ) {
+        //开启线程执行起终点marker设置
+        val setMapMarkerRunnable = Runnable {
+            d(
+                "setMapMaker= " + Thread.currentThread().name,
+                uuid + "=latitude=" + station[1] + ",longitude=" + station[0]
+            )
+            val options = MogoMarkerOptions()
+                .owner(TYPE_MARKER_M2_LINE)
+                .anchor(0.5f, 0.5f)
+                .set3DMode(true)
+                .gps(true)
+                .controlAngle(true)
+                .icon3DRes(R.raw.bus_di)
+                .longitude(station[0])
+                .latitude(station[1])
+            val marker = Objects.requireNonNull(
+                getMarkerManager(AbsMogoApplication.getApp())
+            )?.addMarker(uuid, options)
+            val centerLine =
+                getMapUIController()!!
+                    .getCenterLineInfo(
+                        station[0], station[1], -1f
+                    )
+            if (null != centerLine && marker != null) { // 有可能鹰眼map为空没有角度。判空使用后可能造成maker角度跟道路角度不一致
+                marker.setRotateAngle(centerLine.angle!!.toFloat())
+            }
+        }
+        OCHThreadPoolManager.getsInstance().execute(setMapMarkerRunnable)
+    }
+
+    fun removeMapMaker(
+        uuid: String,
+    ) {
+        //开启线程移除起终点marker设置
+        val removeMapMarkerRunnable = Runnable {
+            d("RemoveMapMaker=" + Thread.currentThread().name, uuid)
+            Objects.requireNonNull(
+                getMarkerManager(
+                    AbsMogoApplication.getApp()
+                )
+            )?.removeMarkers(uuid)
+        }
+        OCHThreadPoolManager.getsInstance().execute(removeMapMarkerRunnable)
+    }
+
 }
\ No newline at end of file