diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
index 4a9ba7dc8c..b6166b60c6 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/wigets/StartAutopilotAnimationView.kt
@@ -1,8 +1,6 @@
 package com.mogo.och.common.module.wigets;
 
-import android.annotation.SuppressLint
 import android.content.Context
-import android.os.CountDownTimer
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
@@ -28,7 +26,7 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
 ) : RelativeLayout(context, attrs, defStyleAttr){
 
     companion object {
-        private const val ALL_CLOSE_TIMER = 10000L
+        private const val ALL_CLOSE_TIMER = 5000L
         private const val TAG = "StartAutopilotAnimationView"
     }
 
@@ -38,7 +36,6 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
 
     private val closeWarningTask: Runnable = Runnable {
         //开始倒计时
-        countDownTimer()
         showWarning(DirectionEnum.ALERT_WARNING_NON)
     }
 
@@ -185,24 +182,24 @@ class StartAutopilotAnimationView @JvmOverloads constructor(
     }
 
     private fun countDownTimer() {
-
         startAutopilotTip.visibility = VISIBLE
 
-        startTimer = object : CountDownTimerExt(ALL_CLOSE_TIMER, 1000L) {// 5倒计时后开启自驾
+        startTimer = object : CountDownTimerExt(ALL_CLOSE_TIMER, 1000L) {// 5s倒计时后开启自驾
 
             override fun onTimerTick(value: Long) {
                 // 倒计时
                 UiThreadHandler.post {
-                    startAutopilotTip.text = "${(value/1000).toInt()} 车辆即将自动开启自动驾驶"
+                    startAutopilotTip.text = "${Math.ceil(value.toDouble()/1000).toInt()} 车辆即将自动开启自动驾驶"
                 }
                 playDI()
             }
 
             override fun onTimerFinish() {
+                cancelCountdown()
                 //倒计时结束了...
                 UiThreadHandler.post {
+                    SoundPoolHelper.getSoundPoolHelper().releaseSoundPool()
                     startAutopilotTip.text = "车辆正在自动开启自动驾驶"
-                    dismiss(DirectionEnum.ALERT_WARNING_TOP)
                 }
             }
 
diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
index 36c6e5f812..0fcc863c72 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -343,20 +343,15 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
     }
 
     private void startNaviToStation(boolean isVoicePlay, double stationLat, double stationLng) {
-        UiThreadHandler.post(new Runnable() {
-            @Override
-            public void run() {
-                AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
+        AmapNaviToDestinationModel.getInstance(getContext()).destroyAmaNavi();
+        double mCurLatitude = CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLatitude();
+        double mCurLongitude =CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLongitude();
 
-                double mCurLatitude = CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLatitude();
-                double mCurLongitude =CallerChassisLocationGCJ02ListenerManager.INSTANCE.getChassisLocationGCJ02().getLongitude();
+        CallerLogger.d(M_TAXI + TAG, "currentLatLng=" + mCurLatitude + " " +mCurLongitude);
 
-                CallerLogger.d(M_TAXI + TAG, "currentLatLng=" + mCurLatitude + " " +mCurLongitude);
-                NaviLatLng startNaviLatLng = new NaviLatLng(mCurLatitude, mCurLongitude);
-                NaviLatLng endNaviLatLng = new NaviLatLng(stationLat, stationLng);
-                AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
-            }
-        });
+        NaviLatLng startNaviLatLng = new NaviLatLng(mCurLatitude, mCurLongitude);
+        NaviLatLng endNaviLatLng = new NaviLatLng(stationLat, stationLng);
+        AmapNaviToDestinationModel.getInstance(getContext()).initAMapNavi(startNaviLatLng, endNaviLatLng);
         AmapNaviToDestinationModel.getInstance(getContext()).setVoiceIsMute(isVoicePlay);
         AmapNaviToDestinationModel.getInstance(getContext()).setTaxiNaviChangedCallback(this);
     }
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 502f11874d..2299ba82c5 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
@@ -9,16 +9,17 @@
     <com.mogo.eagle.core.function.view.MapBizView
         android:id="@+id/mapBizView"
         android:layout_width="match_parent"
-        android:layout_height="match_parent" />
+        android:layout_height="match_parent"
+        app:isWeatherEnable="false" />
 
     <com.mogo.eagle.core.function.hmi.ui.setting.ToggleDebugViewTrigger
         android:layout_width="@dimen/dp_400"
         android:layout_height="@dimen/dp_100"
         android:longClickable="true"
-        app:locationIcon3DRes="@raw/chuzuche"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent" />
+        app:layout_constraintStart_toStartOf="parent"
+        app:locationIcon3DRes="@raw/chuzuche" />
 
     <LinearLayout
         android:id="@+id/module_mogo_och_speed_layout"
@@ -305,7 +306,7 @@
             android:layout_width="@dimen/dp_70"
             android:layout_height="@dimen/dp_70"
             android:layout_gravity="center"
-            android:background="@drawable/bad_case_selector_och"/>
+            android:background="@drawable/bad_case_selector_och" />
     </LinearLayout>
 
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaTaxiView
@@ -314,35 +315,34 @@
         app:layout_constraintBottom_toBottomOf="@id/module_och_taxi_badcase_ll"
         app:layout_constraintLeft_toRightOf="@id/module_och_taxi_badcase_ll"
         app:layout_constraintTop_toTopOf="@id/module_och_taxi_badcase_ll"
-        app:roma_open_bg="@drawable/taxi_operation_status_select_bg"
         app:roma_close_bg="@drawable/taxi_operation_status_bg"
-        />
+        app:roma_open_bg="@drawable/taxi_operation_status_select_bg" />
 
     <com.mogo.eagle.core.function.hmi.ui.widget.RomaDistanceView
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
+        android:layout_marginBottom="@dimen/dp_10"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
-        android:layout_marginBottom="@dimen/dp_10"
         app:layout_constraintRight_toRightOf="parent" />
 
-<!--    <LinearLayout-->
-<!--        android:id="@+id/module_och_taxi_ai_collect_ll"-->
-<!--        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_selector"-->
-<!--        app:layout_constraintBottom_toBottomOf="parent"-->
-<!--        app:layout_constraintLeft_toRightOf="@id/module_och_taxi_badcase_ll">-->
-<!--        <ImageView-->
-<!--            android:layout_width="@dimen/dp_70"-->
-<!--            android:layout_height="@dimen/dp_70"-->
-<!--            android:layout_gravity="center"-->
-<!--            android:background="@drawable/ai_collect_selector_och"/>-->
-<!--    </LinearLayout>-->
+    <!--    <LinearLayout-->
+    <!--        android:id="@+id/module_och_taxi_ai_collect_ll"-->
+    <!--        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_selector"-->
+    <!--        app:layout_constraintBottom_toBottomOf="parent"-->
+    <!--        app:layout_constraintLeft_toRightOf="@id/module_och_taxi_badcase_ll">-->
+    <!--        <ImageView-->
+    <!--            android:layout_width="@dimen/dp_70"-->
+    <!--            android:layout_height="@dimen/dp_70"-->
+    <!--            android:layout_gravity="center"-->
+    <!--            android:background="@drawable/ai_collect_selector_och"/>-->
+    <!--    </LinearLayout>-->
 
     <Button
         android:id="@+id/btnAutopilotDisable"
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverTaskWithOrderBean.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverTaskWithOrderBean.kt
index cba01a3f71..cd9164a5d0 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverTaskWithOrderBean.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/bean/TaxiDriverTaskWithOrderBean.kt
@@ -131,6 +131,15 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
             return data.order!!.orderStatus == TaxiOrderStatusEnum.ArriveAtEnd.code
         }
 
+        fun isOrderOnTheWayToStart(data: Result?): Boolean {
+            if (data == null) {
+                return false
+            }
+            if (data.order == null) {
+                return false
+            }
+            return data.order!!.orderStatus == TaxiOrderStatusEnum.OnTheWayToStart.code
+        }
         /**
          * with order.orderStatus == ArriveAtStart
          */
@@ -144,7 +153,7 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
             return data.order!!.orderStatus == TaxiOrderStatusEnum.ArriveAtStart.code
         }
 
-        fun isUserArriveAtStart(data: Result?): Boolean {
+        fun isOrderUserArriveAtStart(data: Result?): Boolean {
             if (data == null) {
                 return false
             }
@@ -157,7 +166,7 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
         /**
          * with task.currentStatus == StartTask
          */
-        fun isStartTaskType(data: Result?): Boolean {
+        fun isTaskStartTaskType(data: Result?): Boolean {
             if (data == null) {
                 return false
             }
@@ -167,7 +176,7 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
         /**
          * with task.currentStatus == CompleteTask
          */
-        fun isCompleteTaskType(data: Result?): Boolean {
+        fun isTaskCompleteTaskType(data: Result?): Boolean {
             if (data == null) {
                 return false
             }
@@ -177,7 +186,7 @@ data class QueryCurrentTaskRespBean(var data: Result?) : BaseData() {
         /**
          * with task.currentStatus == GetTask
          */
-        fun isGetTaskType(data: Result?): Boolean {
+        fun isTaskGetTaskType(data: Result?): Boolean {
             if (data == null) {
                 return false
             }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
index 036a9b7df2..1cfc6109b2 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiTaskWithOrderCallback.kt
@@ -5,7 +5,8 @@ import com.mogo.och.taxi.bean.TrajectoryListRespBean
 
 interface ITaxiTaskWithOrderCallback {
     fun onTaskWithOrderDataChanged(taskWithOrder: QueryCurrentTaskRespBean.Result?)
-    fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result)
+    fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result?)
+    fun onTaskStarted(result: QueryCurrentTaskRespBean.Result?)
     fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?)
     fun onOrderCancel()
     fun onOrderArriveAtEnd(orderNo: String)
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt
index ba3f7891b6..e759aef583 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/constant/TaxiUnmannedConst.kt
@@ -80,11 +80,15 @@ class TaxiUnmannedConst {
 
         const val TIMER_START_AUTOPILOT_INTERVAL = 20 * 1000L
 
-        const val TIMER_PREPARE_TASK_INTERVAL_120S = 120 * 1000L //120s再次获取任务
+        const val TIMER_PREPARE_VIRTUAL_TASK_INTERVAL = 45 * 1000L //45s再次获取任务
 
-        const val START_AUTOPILOT_COUNTDOWN_INTERVAL = 10 * 1000L // 自动启动自驾倒数计时
+        const val START_PREPARE_TO_START_TASK_INTERVAL = 0L // 直接拉取接驾任务
 
-        const val START_AUTOPILOT_ANIMATION_INTERVAL = 12 * 1000L // 12s 开启自驾闪烁动画
+        const val START_PREPARE_TASK_RETRY_INTERVAL = 5 * 1000L // 拉取任务失败重试 5s
+
+        const val START_AUTOPILOT_COUNTDOWN_INTERVAL = 5 * 1000L // 自动启动自驾倒数计时
+
+        const val START_AUTOPILOT_ANIMATION_INTERVAL = 7 * 1000L // 开启自驾闪烁动画
 
     }
 }
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
index 580cee3f6d..f2c0efba72 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
@@ -57,7 +57,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
     fun changeOverview(eventLogout: EventLogout) {
         if (eventLogout.messgae == EventLogout.LOGOUT_TYPE) {
             d(SceneConstant.M_TAXI + TAG, "changeOverview Event消息去登出")
-            mPresenter.logout()
+            mPresenter?.logout()
         }
     }
 
@@ -107,12 +107,12 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
         // 在自动驾驶中，或者自己确认车辆环境可开启自动驾驶 则可点击
         if (!isStarting) {
             d(SceneConstant.M_TAXI + TAG, "startAutopilot")
-            mPresenter.startAutoPilot()
+            mPresenter?.startAutoPilot()
         }
     }
 
     override fun pauseStartAutopilot() {
-        mPresenter.pauseStartAutopilot()
+        mPresenter?.pauseStartAutopilot()
     }
 
     override fun resumeStartAutopilot(remainingTime: Long) {
@@ -120,7 +120,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
     }
 
     override fun startNaviToEndStation(isShow: Boolean) {
-        mPresenter.startNaviToEndStation(isShow)
+        mPresenter?.startNaviToEndStation(isShow)
     }
 
     override fun initViews() {
@@ -134,7 +134,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
     }
 
     override fun stopAutoStartAutopilot() {
-        mPresenter.stopAutoStartAutopilot()
+        mPresenter?.stopAutoStartAutopilot()
     }
 
     private fun initFlowEvent() {
@@ -275,7 +275,7 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
 
         findViewById<View>(R.id.test_bar_on_the_way_to_end)?.setOnClickListener {
             if (!isStarting) {
-                mPresenter.startAutoPilot()
+                mPresenter?.startAutoPilot()
             }
             TaxiTaskModel.mockOnTheWayToEndStation()
         }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
index 527fc424a5..fd63f93a6a 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/debug/DebugView.kt
@@ -199,7 +199,10 @@ public class DebugView @JvmOverloads constructor(
         initViewByData(taskWithOrder)
     }
 
-    override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result) {
+    override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result?) {
+    }
+
+    override fun onTaskStarted(result: QueryCurrentTaskRespBean.Result?) {
     }
 
     override fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?) {
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
index 72a2601d09..836708bd6b 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskFragment.kt
@@ -206,20 +206,25 @@ class TaxiCurrentTaskFragment : BaseFragment(),
     }
 
     /**
-     * 更新120s倒计时
+     * 更新拉取任务倒计时
      */
     private fun updatePrepareTaskDelayUI(millisInFuture: Long, isStart: Boolean) {
 
         if (!isStart) {
-            prepareTaskCountdownTv.visibility = View.GONE
+            prepareTaskCountdownTv.visibility = View.INVISIBLE
             mPrepareTasCountDownTimer?.cancel()
             mPrepareTasCountDownTimer = null
             return
         }
 
+        if (mPrepareTasCountDownTimer != null){
+            mPrepareTasCountDownTimer?.cancel()
+            mPrepareTasCountDownTimer = null
+        }
+
         prepareTaskCountdownTv.visibility = View.VISIBLE
         mPrepareTasCountDownTimer =
-            object : CountDownTimer(millisInFuture, 1000L) {// 5倒计时后开启自驾
+            object : CountDownTimer(millisInFuture, 1000L) {// 倒计时后开启自驾
 
                 override fun onTick(millisUntilFinished: Long) {
                     // 倒计时
@@ -232,7 +237,7 @@ class TaxiCurrentTaskFragment : BaseFragment(),
                 override fun onFinish() {
                     //倒计时结束了...
                     UiThreadHandler.post {
-                        prepareTaskCountdownTv.visibility = View.GONE
+                        prepareTaskCountdownTv.visibility = View.INVISIBLE
                     }
                     mPrepareTasCountDownTimer?.cancel()
                 }
@@ -594,20 +599,18 @@ class TaxiCurrentTaskFragment : BaseFragment(),
     }
 
     private fun startNaviToStation(isVoicePlay: Boolean, stationLat: Double, stationLng: Double) {
-        UiThreadHandler.post{
-            AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
-            val mCurLatitude = getChassisLocationGCJ02().latitude
-            val mCurLongitude = getChassisLocationGCJ02().longitude
-            d(
-                TAG,
-                "currentLatLng=$mCurLatitude $mCurLongitude"
-            )
-            val startNaviLatLng = NaviLatLng(mCurLatitude, mCurLongitude)
-            val endNaviLatLng = NaviLatLng(stationLat, stationLng)
-            AmapNaviToDestinationModel.getInstance(context).initAMapNavi(startNaviLatLng, endNaviLatLng)
-            AmapNaviToDestinationModel.getInstance(context).setVoiceIsMute(isVoicePlay)
-            AmapNaviToDestinationModel.getInstance(context).setTaxiNaviChangedCallback(this)
-        }
+        AmapNaviToDestinationModel.getInstance(context).destroyAmaNavi()
+        val mCurLatitude = getChassisLocationGCJ02().latitude
+        val mCurLongitude = getChassisLocationGCJ02().longitude
+        d(
+            TAG,
+            "currentLatLng=$mCurLatitude $mCurLongitude"
+        )
+        val startNaviLatLng = NaviLatLng(mCurLatitude, mCurLongitude)
+        val endNaviLatLng = NaviLatLng(stationLat, stationLng)
+        AmapNaviToDestinationModel.getInstance(context).initAMapNavi(startNaviLatLng, endNaviLatLng)
+        AmapNaviToDestinationModel.getInstance(context).setVoiceIsMute(isVoicePlay)
+        AmapNaviToDestinationModel.getInstance(context).setTaxiNaviChangedCallback(this)
     }
 
     /**
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
index 3beff6419b..32b7c8a7ce 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
@@ -2,17 +2,22 @@ package com.mogo.och.taxi.ui.task
 
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.BaseData
+import com.mogo.eagle.core.data.config.FunctionBuildConfig
+import com.mogo.eagle.core.data.map.MogoLocation
+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.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.network.utils.GsonUtil
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.NetworkUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
+import com.mogo.och.common.module.manager.distancemamager.TrajectoryAndDistanceManager
 import com.mogo.och.common.module.utils.ToastUtilsOch
 import com.mogo.och.common.module.voice.VoiceNotice
-import com.mogo.och.common.module.wigets.StartAutopilotAnimationView
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.base.BaseViewModel
 import com.mogo.och.taxi.base.IUiIntent
@@ -98,19 +103,19 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     }
 
     private fun jumpPassengerCheck() {
-        DebugView.printInfoMsg("[开始服务] 准备发送请求")
+        DebugView.printInfoMsg("[跳过乘客验证] 准备发送请求")
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.order?.also {
             TaxiTaskWithOrderServiceManager.jumpPassengerCheck(AbsMogoApplication.getApp().applicationContext,
                 it.orderNo,
                 object : OchCommonServiceCallback<BaseData> {
                     override fun onSuccess(data: BaseData?) {
-                        DebugView.printInfoMsg("[开始服务] 请求success")
+                        DebugView.printInfoMsg("[跳过乘客验证] 请求success")
                         d(TAG, "jumpPassengerCheck onSuccess:")
                     }
 
                     override fun onFail(code: Int, msg: String?) {
-                        DebugView.printInfoMsg("[开始服务] 请求fail, code=$code, msg=$msg")
+                        DebugView.printInfoMsg("[跳过乘客验证] 请求fail, code=$code, msg=$msg")
                         d(TAG, "jumpPassengerCheck onFail: code=$code, msg=$msg")
                     }
                 })
@@ -225,15 +230,48 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         updateTaskAndOrderUi(result)
     }
 
+    override fun onTaskStarted(result: QueryCurrentTaskRespBean.Result?) {
+        updateLocalCalculateStation(result)
+        if (result?.endSite != null){
+            TaxiTaskModel.setBeautificationMode(true)
+            updateAutopilotControlParameters()
+        }else{
+            clearDemoModeAndACParameters()
+        }
+    }
+
+    private fun updateLocalCalculateStation(result: QueryCurrentTaskRespBean.Result?) {
+        if (result?.startSite != null && result.endSite != null
+        ) {
+            d(TAG, "updateLocalCalculateStation start")
+            val curTaskAndOrder = TaxiTaskModel.getCurrentTaskWithOrder() ?: return
+            if (curTaskAndOrder.startSite != null && curTaskAndOrder.endSite != null) {
+                val startStation = MogoLocation()
+                startStation.longitude = curTaskAndOrder.startSite!!.gcjLon
+                startStation.latitude = curTaskAndOrder.startSite!!.gcjLat
+                val endStation = MogoLocation()
+                endStation.longitude = curTaskAndOrder.endSite!!.gcjLon
+                endStation.latitude = curTaskAndOrder.endSite!!.gcjLat
+                TrajectoryAndDistanceManager.setStationPoint(
+                    startStation,
+                    endStation,
+                    curTaskAndOrder.lineId
+                )
+            }
+        } else {
+            TaxiTaskModel.clearLocalCalculateStation()
+        }
+    }
+
     /**
      * 开始倒计时120s或者10s拉取任务
      * 演练任务120s拉取
      * 接驾任务10s拉取
      */
-    override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result) {
+    override fun onTaskCompleted(result: QueryCurrentTaskRespBean.Result?) {
         d(TAG, "onTaskCompleted: ${result?.currentStatus}, siteId=${result?.endSite?.siteId}")
 
-        if (result.order != null && result.servingStatus == 1){
+        if (result?.order != null && result.servingStatus == 1){
             if (result.taskType <= TaskTypeEnum.VirtualTask.code
                 && result.order!!.orderStatus < TaxiOrderStatusEnum.ArriveAtStart.code) {
                 VoiceNotice.showNotice("已为您接到订单")
@@ -243,17 +281,35 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
             }
         }
 
-        if (QueryCurrentTaskRespBean.isUserArriveAtStart(result)) {
-            TaxiTaskModel.removePrepareTaskDelay()
-            TaxiTaskModel.prepareNextTask(0,result.endSite!!.siteId)
-        }else if (!QueryCurrentTaskRespBean.isOrderArriveAtStart(result)
-            || !QueryCurrentTaskRespBean.isOrderArriveAtEnd(result)){
-            TaxiTaskModel.startPrepareTaskDelay(
-                if (TaskTypeEnum.isToOrderStartTask(result))
-                    TaxiUnmannedConst.START_AUTOPILOT_COUNTDOWN_INTERVAL
-                else TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S,
-                result.endSite!!.siteId)
+        /**
+         * 1、有订单下(表示当前有订单或者未来有要执行的订单):
+         *      接驾任务需要立即拉取, 拉取时机在车辆前往上车点状态
+         *      送驾任务需要立即拉取, 拉取时机在乘客已上车状态
+         * 2、在没有订单情况下
+         *      若当前到站的是前往标定站点, 则45s去拉取任务
+         *      若当前是演练任务到站, 45s去拉取任务
+         *      若当前是接驾任务到站, 此情况肯定是有订单的, 则走1
+         *      若当前到站的是送驾任务, 不去拉取, 需等待司机点击服务完成按钮后拉取
+         */
+
+        if (result?.order != null){
+            if (QueryCurrentTaskRespBean.isOrderOnTheWayToStart(result)){
+                TaxiTaskModel.startPrepareTaskDelay(TaxiUnmannedConst.START_PREPARE_TO_START_TASK_INTERVAL,
+                    result?.endSite!!.siteId)
+            }else if (QueryCurrentTaskRespBean.isOrderUserArriveAtStart(result)) {
+                TaxiTaskModel.startPrepareTaskDelay(0, result?.endSite!!.siteId)
+            }
+        }else{
+            if (result?.taskType == TaskTypeEnum.None.code){
+                TaxiTaskModel.startPrepareTaskDelay(
+                    TaxiUnmannedConst.TIMER_PREPARE_VIRTUAL_TASK_INTERVAL, result?.endSite!!.siteId)
+            }else{
+                TaxiTaskModel.startPrepareTaskDelay(
+                    TaxiUnmannedConst.TIMER_PREPARE_VIRTUAL_TASK_INTERVAL, result?.endSite!!.siteId)
+            }
         }
+
+        clearDemoModeAndACParameters()
     }
 
     override fun onTaskTrajectoryDataChanged(data: TrajectoryListRespBean?) {
@@ -283,13 +339,13 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         //获取新的任务
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.endSite?.also {
-            TaxiTaskModel.startPrepareTaskDelay(TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S,
+            TaxiTaskModel.startPrepareTaskDelay(TaxiUnmannedConst.TIMER_PREPARE_VIRTUAL_TASK_INTERVAL,
                 it.siteId)
         }
     }
 
     override fun onStartAutopilot(postDelayTime: Long) {
-        UiThreadHandler.postDelayed(startTaskRunnable, postDelayTime) // 10s后或者倒计时继续开启自驾, 状态流转
+        UiThreadHandler.postDelayed(startTaskRunnable, postDelayTime) // 5s后或者倒计时结束开启自驾, 状态流转
     }
 
     private val startTaskRunnable: Runnable = Runnable {
@@ -382,4 +438,26 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
             ToastUtils.showShort(context.getString(R.string.request_error_tip))
         }
     }
+
+    private fun clearDemoModeAndACParameters(){
+        if (FunctionBuildConfig.isDemoMode) {
+            d(TAG, "setIPCDemoMode：false")
+            CallerAutoPilotControlManager.setIPCDemoMode(false)
+        }
+        TaxiTaskModel.clearAutopilotControlParameters()
+    }
+
+    /**
+     * 将业务订单信息保存，鹰眼可取用
+     */
+    private fun updateAutopilotControlParameters() {
+        val parameters = TaxiTaskModel.initAutopilotControlParameters()
+        if (null == parameters) {
+            CallerLogger.e(TAG, "AutopilotControlParameters is empty.")
+            return
+        }
+        d(TAG, "AutopilotControlParameters is update.")
+        DebugView.printInfoMsg("[启自驾] updateAutopilotControlParameters调用成功")
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(parameters)
+    }
 }
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
index b0ba113e37..36f625ae8b 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -118,7 +118,11 @@ object TaxiTaskModel {
 
     private var mPrepareTaskDelayRunnable: Runnable? = null
 
-    private var mIsArrivedSiteStartTag = false //到站接口请求标志位,防止围栏触发多次调用到站接口, true 接口请求, false : 接口请求完成
+    private var mLastArrivedSiteId = -1L //上一次成功提交到站的siteId
+
+    private var mIsSubmitArrivedSiteRequesting = false //到站接口请求标志位, true 接口请求中, false : 当前接口没有请求
+
+    private var isPrepareingNextTask = false // 拉取任务接口标志位
 
     fun addTaskWithOrderListener(tag: String, listener: ITaxiTaskWithOrderCallback) {
         if (mTaxiTaskWithOrderCallbackMap.containsKey(tag)) {
@@ -259,7 +263,7 @@ object TaxiTaskModel {
                 if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_RUNNING，meaning=自动驾驶中")
                     mADASStatusCallback?.onAutopilotRunning()
-                    if ((QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder))) {
+                    if ((QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder))) {
                         TaxiAnalyticsManager.getInstance().triggerStartAutopilotEvent(
                             isRestartAutopilot,
                             true,
@@ -268,22 +272,13 @@ object TaxiTaskModel {
                             mCurrentTaskWithOrder!!.lineId,
                             mCurrentTaskWithOrder!!.order!!.orderNo
                         )
-                        if (FunctionBuildConfig.isDemoMode) {
-                            // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
-                            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
-                            CallerAutoPilotControlManager.setIgnoreConditionDraw(true)
-                            CallerAutoPilotControlManager.setIPCDemoMode(true)
-                            d(
-                                TAG,
-                                "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）"
-                            )
-                        }
+                        setBeautificationMode(true)
                     }
                 } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_ENABLE，meaning=可自动驾驶，人工干预状态")
                     if ((FunctionBuildConfig.isDemoMode
                                 && checkCurrentTaskCondition()
-                                && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
+                                && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
                                 )
                     ) {
                         // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
@@ -294,7 +289,7 @@ object TaxiTaskModel {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_AUTOPILOT_DISABLE，meaning=不可自动驾驶")
                     if ((FunctionBuildConfig.isDemoMode
                                 && checkCurrentTaskCondition()
-                                && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
+                                && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
                                 )
                     ) {
                         // 当美化模式（演示模式）开启时：且有订单、且为去往目的地状态，维持自动驾驶icon开启状态
@@ -305,7 +300,7 @@ object TaxiTaskModel {
                     DebugView.printInfoMsg("[自驾状态变化] afterValue=STATUS_PARALLEL_DRIVING，meaning=平行驾驶中")
                     if (FunctionBuildConfig.isDemoMode) {
                         if ((checkCurrentTaskCondition()
-                                    && QueryCurrentTaskRespBean.isStartTaskType(
+                                    && QueryCurrentTaskRespBean.isTaskStartTaskType(
                                 mCurrentTaskWithOrder
                             )
                                     )
@@ -332,7 +327,34 @@ object TaxiTaskModel {
                     )
                     return
                 }
-                autopilotArriveAtStation()
+
+                //围栏已经到站, 拉取到下一个任务, 此时自驾的到站才传递过来, 导致直接上报了当前任务的终点站到站, 造成任务一开始立马到站的问题
+                //解决方案: 根据自驾到站的经纬度和当前任务终点站的坐标比对, 如果距离在15米内, 则任务到站正确, 否则不请求到站
+                if (!checkCurrentTaskCondition()) return
+                val endSiteLat: Double? = mCurrentTaskWithOrder?.endSite?.gcjLat
+                val endSiteLon: Double? = mCurrentTaskWithOrder?.endSite?.gcjLon
+                val mapEndSiteLatWgs: Double? = arrivalNotification?.endLocation?.latitude
+                val mapEndSiteLonWgs: Double? = arrivalNotification?.endLocation?.longitude
+                if (endSiteLon != null && endSiteLat != null && mapEndSiteLonWgs != null && mapEndSiteLatWgs != null){
+
+                    var latLngs = CoordinateUtils.transformWgsToGcj(mapEndSiteLatWgs,mapEndSiteLonWgs)
+
+                    val distance = CoordinateUtils.calculateLineDistance(
+                        endSiteLon, endSiteLat,
+                        latLngs[0], latLngs[1]
+                    ).toDouble()
+                    if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE){// 两坐标小于15米
+                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点15米内, 请求到站")
+                        autopilotArriveAtStation()
+                    }else{
+                        DebugView.printInfoMsg("[MAP到站通知] 到站坐标和任务终点不一致, 不请求到站")
+                    }
+                }else{
+                    DebugView.printInfoMsg("[MAP到站通知] endSiteLat = $endSiteLat, endSiteLon = $endSiteLon, " +
+                            "mapEndSiteLat = $mapEndSiteLatWgs, mapEndSiteLon = $mapEndSiteLonWgs")
+                }
+
+
                 if (FunctionBuildConfig.isDemoMode) {
                     // 当美化模式（演示模式）开启时: 到达目的地，置false
                     // 2022.10.08 到达目的地时候取消自动起自驾， 服务完成取消引导线和自动驾驶按钮状态
@@ -366,7 +388,7 @@ object TaxiTaskModel {
                 }
 
                 if (checkCurrentTaskCondition()
-                    && QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)
+                    && QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
                 ) {
                     judgeTaskEndSiteStation(mogoLocation)
                 }
@@ -556,12 +578,22 @@ object TaxiTaskModel {
         siteId: Long, isArriveAtEndSite: Boolean,
         isArrivedNearestStation: Boolean = false
     ) {
-        if (mIsArrivedSiteStartTag) {
-            DebugView.printInfoMsg("arriveSite接口正在调用中")
-            i(TAG, message = "arriveSite接口正在调用中 mIsArrivedSite = $mIsArrivedSiteStartTag")
+        if (mLastArrivedSiteId == siteId) {
+            DebugView.printWarnMsg("[上报ArriveSite] 此站点已成功上报到站, 跳过本次请求, isArrivedNearestStation=$isArrivedNearestStation" +
+                    ", siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
+            i(TAG, message = "此站点已成功上报到站, 跳过本次请求 isArrivedNearestStation=$isArrivedNearestStation" +
+                    ", siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
             return
         }
-        mIsArrivedSiteStartTag = true
+
+        if (mIsSubmitArrivedSiteRequesting) {
+            DebugView.printWarnMsg("[上报ArriveSite] arriveSite接口正在调用中, 跳过本次请求" +
+                    ", siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
+            i(TAG, message = "arriveSite接口正在调用中, 跳过本次请求 isArrivedNearestStation = $isArrivedNearestStation" +
+                    ", siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
+            return
+        }
+        mIsSubmitArrivedSiteRequesting = true
         DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
         i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
         TaxiTaskWithOrderServiceManager.arriveSite(
@@ -569,10 +601,6 @@ object TaxiTaskModel {
             siteId,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
-                    if (data == null || data.code != 0) {
-                        mIsArrivedSiteStartTag = false
-                        return
-                    }
                     DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
                     d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
                     mDriveToNearestStationTask = null
@@ -584,11 +612,13 @@ object TaxiTaskModel {
                         //取消自驾,D档位会溜车 map3.6.0 修改
                         cancelAutopilot()
                     }
+                    mLastArrivedSiteId = siteId
+                    mIsSubmitArrivedSiteRequesting = false
                 }
 
                 override fun onError() {
                     super.onError()
-                    mIsArrivedSiteStartTag = false
+                    mIsSubmitArrivedSiteRequesting = false
                     if (!NetworkUtils.isConnected(mContext)) { // 网络异常,接口重试
                         ToastUtils.showShort("网络出现异常,请稍后重试")
                         DebugView.printErrorMsg("[上报ArriveSite] 网络出现异常,请稍后重试")
@@ -599,7 +629,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
-                    mIsArrivedSiteStartTag = false
+                    mIsSubmitArrivedSiteRequesting = false
                     DebugView.printErrorMsg("[上报ArriveSite] failed, code=$code, msg=$msg")
                     d(TAG, "code=$code msg=$msg")
                     ToastUtils.showShort("到站接口请求出现异常,请稍后重试,code=$code msg=$msg")
@@ -698,8 +728,6 @@ object TaxiTaskModel {
 
                         mCurrentTaskWithOrder = result
 
-                        updateLocalCalculateStation()
-
                         // 任务为空
                         if (result?.endSite == null && result?.order == null) {
                             d(TAG, "queryCurrentTaskOnce: 任务为空")
@@ -710,16 +738,24 @@ object TaxiTaskModel {
                                 }
                             }
                             clearCurrentOCHOrder()
+                            clearLocalCalculateStation()
                             return
                         }
 
+                        //开始任务处理
+                        if (QueryCurrentTaskRespBean.isTaskStartTaskType(result)){
+                            mLastArrivedSiteId = -1L // 司机或者乘客屏startTask后需要重置标志位
+                            mTaxiTaskWithOrderCallbackMap.forEach {
+                                val listener = it.value
+                                listener.onTaskStarted(result)
+                            }
+                        }
+
                         //当前任务完成且订单状态到达乘客上车点, 则立马去拉取任务 不再等120s,否则送驾任务要等120s后才能去执行(8.29废)
                         //8.29更新: 当前任务完成且订单状态为乘客已上车, 则立马去拉取任务 不再等120s,否则送驾任务要等120s后才能去执行
                         // 主要是解决A-B演练任务同时接到A-B订单状态流转的问题
                         //注意: 需要去除到达乘客上车点的节点, 这个节点不拉取任务
-                        if (result.currentStatus == TaskStatusEnum.CompleteTask.code
-                        ) {
-                            mIsArrivedSiteStartTag = false //任务完成说明到站, 更新到站标识位, 不再到站接口请求成功更新
+                        if (QueryCurrentTaskRespBean.isTaskCompleteTaskType(result)) {
                             mADASStatusCallback?.updateAutopilotStatus()
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
@@ -730,7 +766,11 @@ object TaxiTaskModel {
                         //达到终点后查询全程里程和用时
                         if (QueryCurrentTaskRespBean.isOrderArriveAtEnd(result)) {
                             d(TAG, "queryCurrentTaskOnce ArriveAtEnd")
-                            mIsArrivedSiteStartTag = false
+
+                            //订单到站结束轨迹剩余里程就算和高德计算, 防止到站查询订单全程的显示被覆盖
+                            setStationPoint(null, null, -1L)
+                            AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
+
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
                                 listener.onOrderArriveAtEnd(result.order!!.orderNo)
@@ -746,8 +786,8 @@ object TaxiTaskModel {
                         }
                         queryTaskTrajectoryByLineIds(linesIds.toTypedArray(), result.lineId)
 
-                        //自动去启动自驾
-                        if (result.currentStatus == TaskStatusEnum.GetTask.code &&
+                        //自动去启动自驾, 拿到任务并且任务类型是演练和接驾任务
+                        if (QueryCurrentTaskRespBean.isTaskGetTaskType(result) &&
                             result.taskType <= TaskTypeEnum.ToOrderStartTask.code
                         ) {
                             if (result.order == null || result.order!!.orderStatus < TaxiOrderStatusEnum.ArriveAtStart.code) {
@@ -767,7 +807,6 @@ object TaxiTaskModel {
                                 listener.onTaskWithOrderDataChanged(mCurrentTaskWithOrder)
                             }
                         }
-                        updateDemoModeAndAutopilotParameters(result)
                     }
                 }
 
@@ -798,29 +837,12 @@ object TaxiTaskModel {
             })
     }
 
-    fun updateLocalCalculateStation() {
-        if (mCurrentTaskWithOrder != null &&
-            mCurrentTaskWithOrder?.startSite != null && mCurrentTaskWithOrder?.endSite != null
-            && mCurrentTaskWithOrder?.currentStatus == TaskStatusEnum.StartTask.code
-        ) {
-            d(TAG, "updateLocalCalculateStation start")
-            val curTaskAndOrder = getCurrentTaskWithOrder() ?: return
-            if (curTaskAndOrder.startSite != null && curTaskAndOrder.endSite != null) {
-                val startStation = MogoLocation()
-                startStation.longitude = curTaskAndOrder.startSite!!.gcjLon
-                startStation.latitude = curTaskAndOrder.startSite!!.gcjLat
-                val endStation = MogoLocation()
-                endStation.longitude = curTaskAndOrder.endSite!!.gcjLon
-                endStation.latitude = curTaskAndOrder.endSite!!.gcjLat
-                setStationPoint(startStation, endStation, curTaskAndOrder.lineId)
-            }
-        } else {
-            d(TAG, "updateLocalCalculateStation stop")
-            if (mDriveToNearestStationTask == null){
-                AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
-            }
-            setStationPoint(null, null, -1L)
+    fun clearLocalCalculateStation(){
+        d(TAG, "updateLocalCalculateStation stop")
+        if (mDriveToNearestStationTask == null){
+            AmapNaviToDestinationModel.getInstance(mContext).destroyAmaNavi()
         }
+        setStationPoint(null, null, -1L)
     }
 
     fun queryOrderByOrderNo(orderNo: String) {
@@ -871,6 +893,7 @@ object TaxiTaskModel {
 
     fun startTask(lineId: Long, isStartAutopilot: Boolean) {
         DebugView.printInfoMsg("[开始任务] 准备发送请求，lindId=$lineId")
+        mLastArrivedSiteId = -1L
         TaxiTaskWithOrderServiceManager.startTask(
             mContext,
             lineId,
@@ -881,6 +904,8 @@ object TaxiTaskModel {
                         startAutoPilot() //自驾开启
                     }
                     d(TAG, "startTask onSuccess: data=${GsonUtil.jsonFromObject(data)}")
+                    //开始服务成功后, 如果还有正在拉取的任务请求(可能发生在一直报错重试时候), 需停止掉
+//                    TaxiTaskWithOrderServiceManager.cancelPrepareTask()
                 }
 
                 override fun onError() {
@@ -902,7 +927,14 @@ object TaxiTaskModel {
             })
     }
 
-    fun prepareNextTask(delayTime: Long, siteId: Long) {
+     private fun prepareNextTask(siteId: Long) {
+
+        if (isPrepareingNextTask){
+            DebugView.printInfoMsg("[PrepareNextTask] 请求调用中, 直接return")
+            d(TAG, "[PrepareNextTask] 请求调用中, 直接return")
+            return
+        }
+        isPrepareingNextTask = false
         DebugView.printInfoMsg("[PrepareNextTask] 准备发送请求, siteId=$siteId")
         TaxiTaskWithOrderServiceManager.prepareTask(
             mContext,
@@ -915,13 +947,32 @@ object TaxiTaskModel {
                                 "isCarServingStatus = ${TaxiCarServingStatusManager.isCarServingStatus()}"
                     )
                     DebugView.printInfoMsg("[PrepareNextTask] 请求success")
+                    isPrepareingNextTask = false
                 }
 
                 override fun onFail(code: Int, msg: String?) {
                     DebugView.printErrorMsg("[PrepareNextTask] 请求fail, code=$code ,msg=$msg")
                     d(TAG, "prepareNextTask onFail: code=$code ,msg=$msg")
-                    if (LoginStatusManager.isLogin() && TaxiCarServingStatusManager.isCarServingStatus()) {
-                        startPrepareTaskDelay(delayTime, siteId)
+                    isPrepareingNextTask = false
+                    if (LoginStatusManager.isLogin() && TaxiCarServingStatusManager.isCarServingStatus()
+                        && QueryCurrentTaskRespBean.isTaskCompleteTaskType(mCurrentTaskWithOrder)) {
+                        mCurrentTaskWithOrder?.endSite?.siteId?.also {
+                            startPrepareTaskDelay(TaxiUnmannedConst.START_PREPARE_TASK_RETRY_INTERVAL,it)
+                        }
+                    }
+                }
+
+                override fun onError() {
+                    super.onError()
+                    DebugView.printErrorMsg("[PrepareNextTask] 请求onError,  " +
+                            "net = ${NetworkUtils.isConnected(mContext)}")
+                    d(TAG, "prepareNextTask onError, ,  net = ${NetworkUtils.isConnected(mContext)}")
+                    isPrepareingNextTask = false
+                    if (LoginStatusManager.isLogin() && TaxiCarServingStatusManager.isCarServingStatus()
+                        && QueryCurrentTaskRespBean.isTaskCompleteTaskType(mCurrentTaskWithOrder)) {
+                        mCurrentTaskWithOrder?.endSite?.siteId?.also {
+                            startPrepareTaskDelay(TaxiUnmannedConst.START_PREPARE_TASK_RETRY_INTERVAL,it)
+                        }
                     }
                 }
             })
@@ -931,7 +982,7 @@ object TaxiTaskModel {
         removePrepareTaskDelay()
 
         mPrepareTaskDelayRunnable = Runnable {
-            prepareNextTask(delayTime, siteId)
+            prepareNextTask(siteId)
         }
 
         mTaxiTaskWithOrderCallbackMap.forEach {
@@ -945,7 +996,7 @@ object TaxiTaskModel {
         )
     }
 
-    fun removePrepareTaskDelay() {
+    private fun removePrepareTaskDelay() {
         if (mPrepareTaskDelayRunnable != null) {
             DebugView.printInfoMsg("[PrepareNextTask] removeCallbacks, 取消prepareNextTask倒计时")
             UiThreadHandler.removeCallbacks(mPrepareTaskDelayRunnable)
@@ -1057,6 +1108,7 @@ object TaxiTaskModel {
                             }
                         }
                         mDriveToNearestStationTask = data.data
+                        mLastArrivedSiteId = -1L //开始标定站点任务时, 到达站点标志位需复位
                         mTaxiCarServiceCallback?.onCarStartServiceSuccess(
                             mDriveToNearestStationTask,
                             mCurrentTaskWithOrder
@@ -1088,9 +1140,9 @@ object TaxiTaskModel {
 
     fun startAutopilotByClick() {
         //订单状态流转成功, 点击了开启自驾按钮, 启动自驾
-        if (QueryCurrentTaskRespBean.isStartTaskType(mCurrentTaskWithOrder)) {
+        if (QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)) {
             startAutoPilot()
-        } else if (QueryCurrentTaskRespBean.isGetTaskType(mCurrentTaskWithOrder)) {
+        } else if (QueryCurrentTaskRespBean.isTaskGetTaskType(mCurrentTaskWithOrder)) {
             startTask(mCurrentTaskWithOrder!!.lineId, true)
         } else {
             e(TAG, "task currentStatus is not StartTask.")
@@ -1178,7 +1230,7 @@ object TaxiTaskModel {
         mControllerStatusCallback?.startOpenAutopilot()
     }
 
-    private fun initAutopilotControlParameters(): AutopilotControlParameters? {
+    fun initAutopilotControlParameters(): AutopilotControlParameters? {
         if (!checkCurrentTaskCondition()) {
             e(TAG, "no order or order is empty.")
             return null
@@ -1233,7 +1285,7 @@ object TaxiTaskModel {
     }
 
     private fun judgeTaskEndSiteStation(currentLocation: MogoLocation) {
-        if (!checkCurrentTaskCondition()) {
+        if (!checkCurrentTaskCondition() || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)) {
             return
         }
         val endSite = mCurrentTaskWithOrder!!.endSite ?: return
@@ -1260,7 +1312,7 @@ object TaxiTaskModel {
             )
 
             if (!checkCurrentTaskCondition()
-                || getCurTaskStatus() != TaskStatusEnum.StartTask.code
+                || !QueryCurrentTaskRespBean.isTaskStartTaskType(mCurrentTaskWithOrder)
             ) {
                 i(TAG, "task null or TaskStatus = ${getCurTaskStatus()}")
                 return
@@ -1324,14 +1376,23 @@ object TaxiTaskModel {
      */
     fun clearCurrentOCHOrder() {
         clearAutopilotControlParameters()
-        mIsArrivedSiteStartTag = false
+        mLastArrivedSiteId = -1L
+        mIsSubmitArrivedSiteRequesting = false
+        isPrepareingNextTask = false
         isRestartAutopilot = false
+        setBeautificationMode(false)
+    }
+
+    /**
+     * 设置美化模式相关项开/关
+     */
+    fun setBeautificationMode(isOpen: Boolean){
         if (FunctionBuildConfig.isDemoMode) {
             // 当美化模式（演示模式）开启时: 取消或订单已完成时，置false
-            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = false
-            CallerAutoPilotControlManager.setIgnoreConditionDraw(false)
-            CallerAutoPilotControlManager.setIPCDemoMode(false)
-            d(TAG, "美化模式-ignore：置为false（已完成or清除当前任务）")
+            FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = isOpen
+            CallerAutoPilotControlManager.setIgnoreConditionDraw(isOpen)
+            CallerAutoPilotControlManager.setIPCDemoMode(isOpen)
+            d(TAG, "美化模式-ignore：置为$isOpen,  true表示:到达出发点且已开启自动驾驶; false表示:已完成or清除当前任务")
         }
     }
 
@@ -1362,57 +1423,7 @@ object TaxiTaskModel {
             }
         }
     }
-
-    //运营模式(美化模式), 鹰眼数据同步
-    private fun updateDemoModeAndAutopilotParameters(data: QueryCurrentTaskRespBean.Result?) {
-        if (data == null) {
-            return
-        }
-
-        val endSite = data.endSite
-
-        if (endSite != null) {
-            if (QueryCurrentTaskRespBean.isStartTaskType(data)) {
-                if (FunctionBuildConfig.isDemoMode) {
-                    // 当美化模式（演示模式）开启时: 订单对应自动驾驶开启后，置true
-                    FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true
-                    CallerAutoPilotControlManager.setIgnoreConditionDraw(true)
-                    CallerAutoPilotControlManager.setIPCDemoMode(true)
-                    d(TAG, "美化模式-ignore：置为true（更新本地order信息）")
-                }
-                updateAutopilotControlParameters()
-            }
-            if (QueryCurrentTaskRespBean.isCompleteTaskType(data)) {
-                if (FunctionBuildConfig.isDemoMode) {
-                    d(TAG, "setIPCDemoMode：false")
-                    CallerAutoPilotControlManager.setIPCDemoMode(false)
-                }
-                clearAutopilotControlParameters()
-            }
-        } else {
-            if (FunctionBuildConfig.isDemoMode) {
-                d(TAG, "setIPCDemoMode：false")
-                CallerAutoPilotControlManager.setIPCDemoMode(false)
-            }
-            clearAutopilotControlParameters()
-        }
-    }
-
-    /**
-     * 将业务订单信息保存，鹰眼可取用
-     */
-    private fun updateAutopilotControlParameters() {
-        val parameters = initAutopilotControlParameters()
-        if (null == parameters) {
-            e(TAG, "AutopilotControlParameters is empty.")
-            return
-        }
-        d(TAG, "AutopilotControlParameters is update.")
-        DebugView.printInfoMsg("[启自驾] updateAutopilotControlParameters调用成功")
-        updateAutopilotControlParameters(parameters)
-    }
-
-    private fun clearAutopilotControlParameters() {
+    fun clearAutopilotControlParameters() {
         d(TAG, "AutopilotControlParameters is clear.")
         DebugView.printInfoMsg("[启自驾] clearAutopilotControlParameters调用成功")
         updateAutopilotControlParameters(null)
@@ -1448,7 +1459,7 @@ object TaxiTaskModel {
         d(
             TAG, "stopAutoStartAutopilot = ${mCurrentTaskWithOrder?.currentStatus}"
         )
-        if (QueryCurrentTaskRespBean.isGetTaskType(mCurrentTaskWithOrder)) {
+        if (QueryCurrentTaskRespBean.isTaskGetTaskType(mCurrentTaskWithOrder)) {
             mControllerStatusCallback?.stopOpenAutopilotNonManual()
             mTaxiTaskWithOrderCallbackMap.forEach {
                 val listener = it.value
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml
index 2d417d7e9e..d04c41a874 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/task_fragment_current.xml
@@ -209,8 +209,8 @@
         android:id="@+id/noTaskData"
         layout="@layout/taxi_no_data_common_view"
         android:layout_width="match_parent"
-        android:layout_height="wrap_content"
-        android:layout_marginBottom="240dp"
+        android:layout_height="match_parent"
+        android:layout_marginBottom="160dp"
         android:visibility="gone"
         app:layout_constraintBottom_toBottomOf="parent" />
 </androidx.constraintlayout.widget.ConstraintLayout>
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
index 7ec42fc051..23b385f92f 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_no_data_common_view.xml
@@ -11,6 +11,7 @@
         android:layout_width="@dimen/dp_386"
         android:layout_height="@dimen/dp_350"
         android:src="@drawable/no_order_data"
+        android:layout_marginTop="@dimen/dp_100"
         app:layout_constraintTop_toTopOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"/>
@@ -35,6 +36,6 @@
         android:layout_marginTop="50dp"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
-        android:visibility="gone"
+        android:visibility="invisible"
         app:layout_constraintTop_toBottomOf="@+id/noOrderDataTv" />
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 6101bac0ca..5b0d7d4cf1 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -90,7 +90,7 @@ 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=6001000
-versionName=6.1.0
+versionName=6.1.2
 
 ################# 新架构模块Maven版本管理 #################
 MOGO_CORE_FUNCTION_HMI_VERSION=0.0.58.10
@@ -151,25 +151,25 @@ MATRIX_VERSION=2.0.8
 # 测试模式司机端版本号
 NOOP_DRIVER_VERSION=3.2.0
 # 公交模式司机端版本号
-BUS_DRIVER_VERSION=6.1.0
+BUS_DRIVER_VERSION=6.1.2
 # 公交模式乘客端端版本号
 BUS_PASSENGER_VERSION=5.1.0
 # 接驳模式司机端版本号
-SHUTTLE_DRIVER_VERSION=6.1.0
+SHUTTLE_DRIVER_VERSION=6.1.2
 # 接驳模式乘客端端版本号
 SHUTTLE_PASSENGER_VERSION=5.1.0
 # 出租车模式司机端版本号
-TAXI_DRIVER_VERSION=6.1.0
+TAXI_DRIVER_VERSION=6.1.2
 # 出租车模式乘客端端版本号
 TAXI_PASSENGER_VERSION=5.1.0
 
 # 出租车模式司机端版本号
-TAXIUNMANNED_DRIVER_VERSION=6.1.0
+TAXIUNMANNED_DRIVER_VERSION=6.1.2
 # 出租车模式乘客端端版本号
 TAXIUNMANNED_PASSENGER_VERSION=5.1.0
 
 # 包车模式司机端版本号
-CHARTER_DRIVER_VERSION=6.1.0
+CHARTER_DRIVER_VERSION=6.1.2
 # 包车模式乘客端端版本号
 CHARTER_PASSENGER_VERSION=5.1.0
 # 支持云控清扫车模式司机端版本号