diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
index c7c48c012e..7dfd3190a9 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/DispatchAutoPilotManager.kt
@@ -41,6 +41,7 @@ class DispatchAutoPilotManager private constructor() :
         private const val MSG_SOCKET_TYPE = 501000
         private const val MSG_TYPE_SHOW_DIALOG = 0
         private const val MSG_TYPE_UPLOAD_AUTOPILOT_STATUS = 1
+        private const val MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING = 2
 
         val dispatchAutoPilotManager by lazy(LazyThreadSafetyMode.SYNCHRONIZED) {
             DispatchAutoPilotManager()
@@ -68,6 +69,16 @@ class DispatchAutoPilotManager private constructor() :
                     getAutoPilotStatusInfo().reason
                 )
                 sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L)
+            } else if(msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING){
+                val data = msg.obj as MessagePad.GlobalPathResp
+                val list: MutableList<AutopilotRouteInfo.RouteModels> = ArrayList()
+                for (location in data.wayPointsList) {
+                    val routeModels = AutopilotRouteInfo.RouteModels()
+                    routeModels.lat = location.latitude
+                    routeModels.lon = location.longitude
+                    list.add(routeModels)
+                }
+                dispatchServiceModel.uploadAutopilotRoute(list)
             }
         }
     }
@@ -165,14 +176,10 @@ class DispatchAutoPilotManager private constructor() :
         if (globalPathResp == null || globalPathResp.wayPointsList.isEmpty()) {
             return
         }
-        val list: MutableList<AutopilotRouteInfo.RouteModels> = ArrayList()
-        for (location in globalPathResp.wayPointsList) {
-            val routeModels = AutopilotRouteInfo.RouteModels()
-            routeModels.lat = location.latitude
-            routeModels.lon = location.longitude
-            list.add(routeModels)
-        }
-        dispatchServiceModel.uploadAutopilotRoute(list)
+        val message = Message()
+        message.what = MSG_TYPE_UPLOAD_AUTOPILOT_ROTTING
+        message.obj = globalPathResp
+        handler.sendMessage(message)
     }
 
     override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
index a2ffd09f4d..1f5fa404b7 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/DispatchServiceModel.kt
@@ -76,7 +76,7 @@ class DispatchServiceModel private constructor() {
     fun uploadAutopilotRoute(list: List<RouteModels?>?) {
         val sn = MoGoAiCloudClientConfig.getInstance().sn
         val reportedRoute = ReportedRoute(sn, GsonUtil.jsonFromObject(list))
-        val map: MutableMap<String, Any> = HashMap()
+        val map: MutableMap<String, String> = HashMap()
         map["sn"] = sn
         map["data"] = GsonUtil.jsonFromObject(reportedRoute)
         mAdasApiService.uploadAutopilotRoute(map)
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
index 4c018f2030..dbdc2e34c7 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/dispatch/network/IDispatchAdasApiService.kt
@@ -15,7 +15,7 @@ interface IDispatchAdasApiService {
      */
     @FormUrlEncoded
     @POST("eagle-eye-dns/eagle-eye-dns/dataService/autoDriver/receiveCarPreSetPath")
-    fun uploadAutopilotRoute(@FieldMap parameters: Map<String, Any>): Observable<BaseData>
+    fun uploadAutopilotRoute(@FieldMap parameters: Map<String, String>): Observable<BaseData>
 
     /**
      * 上报自动驾驶调度处理结果  服务于业务调度
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt
index 72052c3a59..ee7b05a06f 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/IdentifyOriginDataDrawer.kt
@@ -102,7 +102,6 @@ class IdentifyOriginDataDrawer : Identify {
     @SuppressLint("NewApi")
     private fun filterTrafficData(trafficData: List<TrackedObject>): HashMap<String, TrackedObject> {
         mFilterTrafficData.clear()
-        trafficDataUuidList.clear()
         for (data in trafficData) {
             // 过滤掉未知感知数据
             if (TrackerSourceColorHelper.filterData(data)) {
@@ -110,13 +109,12 @@ class IdentifyOriginDataDrawer : Identify {
             }
             var temp: TrackedObject = data
             val uuid = "" + data.uuid
-            //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
                 val color = TrackerSourceColorHelper.getDefaultColor(data)
                 temp = data.toBuilder().setColor(color).build()
-                mFilterTrafficData[uuid] = temp
             }
+            mFilterTrafficData[uuid] = temp
             mMarkersCaches[uuid] = temp
             trafficDataUuidList.add(uuid)
         }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
index b4d2daa6c6..2e33808a9b 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/identify/TrackManager.java
@@ -2,7 +2,6 @@ package com.mogo.eagle.core.function.business.identify;
 
 import android.annotation.SuppressLint;
 import android.os.Build;
-import android.util.Log;
 
 import androidx.annotation.RequiresApi;
 
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
index a517eca07a..bdb37aee1a 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapWrapper.java
@@ -3,7 +3,6 @@ package com.mogo.map;
 import android.annotation.SuppressLint;
 import android.content.Context;
 import android.graphics.Point;
-import android.util.Log;
 import android.util.Pair;
 
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
@@ -126,9 +125,6 @@ public class AMapWrapper implements IMogoMap {
             MarkerSimpleData markerOptions = ObjectUtils.fromTrafficData(trackedObject);
             if (markerOptions != null) {
                 markerOptionsArrayList.add(markerOptions);
-                if(markerOptions.id == 65061){
-                    Log.i("emArrow","time :" + markerOptions.time + " , lat : " + markerOptions.lat + " , lon : " + markerOptions.lon);
-                }
             }
         });
         long time = markerOptionsArrayList.get(0).getTime();