diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
index 123205064d..10ecd893d6 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -426,6 +426,11 @@ class OperatePanelLayout : LinearLayout {
                 KEY_V2I_TO_PNC -> {
                     val isChecked = newValue as? Boolean ?: false
                     FunctionBuildConfig.v2iToPNC = isChecked
+                    FunctionBuildConfig.isFusionColor = isChecked //6.6.2版本基于运营需求-产品设计-v2i进pnc,感知目标颜色替换
+                    FunctionBuildConfig.fusionMode = 2
+                    CallerAutoPilotControlManager.sendFusionMode(2)
+                    CallerHmiViewControlListenerManager.invokeFuncMode(IViewControlListener.FUNC_FUSION_COLOR,isChecked)
+
                     CallerAutoPilotControlManager.sendV2iToPncCmd(isChecked)
                     hmiAction("V2I场景进PNC, ", isChecked)
                     clickEventAnalytics("V2I场景进PNC", isChecked)
@@ -980,7 +985,6 @@ class OperatePanelLayout : LinearLayout {
                 when(adasParam.fusionMode) {
                     1 -> {
                         //全融合模式
-                        FunctionBuildConfig.fusionMode = 1
                         prevCheckedKeyForFusionMode?.takeIf { it != KEY_ALL_MERGE_MODE }?.let {
                             preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                         }?.also {
@@ -994,7 +998,6 @@ class OperatePanelLayout : LinearLayout {
                     }
                     2 -> {
                         //盲区模式
-                        FunctionBuildConfig.fusionMode = 2
                         prevCheckedKeyForFusionMode?.takeIf { it != KEY_BLIND_AREA_MODE }?.let {
                             preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                         }?.also {
@@ -1008,7 +1011,6 @@ class OperatePanelLayout : LinearLayout {
                     }
                     3 -> {
                         //超视距模式
-                        FunctionBuildConfig.fusionMode = 3
                         prevCheckedKeyForFusionMode?.takeIf { it != KEY_BEYOND_VISUAL_RANGE_MODE }?.let {
                             preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                         }?.also {
@@ -1022,7 +1024,6 @@ class OperatePanelLayout : LinearLayout {
                     }
                     4 -> {
                         //透传模式
-                        FunctionBuildConfig.fusionMode = 4
                         prevCheckedKeyForFusionMode?.takeIf { it != KEY_TRANSPARENT_TRANSFER_MODE }?.let {
                             preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                         }?.also {
@@ -1036,7 +1037,6 @@ class OperatePanelLayout : LinearLayout {
                     }
                     5 -> {
                         //纯路侧模式
-                        FunctionBuildConfig.fusionMode = 5
                         prevCheckedKeyForFusionMode?.takeIf { it != KEY_PURE_OBU_MODE }?.let {
                             preferenceScreen.findPreferenceReal<TwoStatePreference>(it)
                         }?.also {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 757449289e..4f4ebaf05e 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -251,7 +251,7 @@ internal class SOPSettingView @JvmOverloads constructor(
             if (isChecked) {
                 //V2I场景进PNC
                 scV2iPnc.isChecked = FunctionBuildConfig.v2iToPNC
-                if(FunctionBuildConfig.isV2IPnc){
+                if(FunctionBuildConfig.v2iToPNC){
                     FunctionBuildConfig.isFusionColor = true //6.6.2版本基于运营需求-产品设计-开启v2i进pnc,开启感知目标颜色替换
                 }
                 hmiAction("SOP V2I场景进PNC, ", FunctionBuildConfig.v2iToPNC)
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt
index 30abf04f9c..d50c3ea8f1 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/HmiBuildConfig.kt
@@ -70,7 +70,7 @@ object HmiBuildConfig {
 
     /**
      * 是否展示obu的v2i
-     * //6.6.2版本根据运营需求-产品设计默认开启
+     * 6.6.2版本根据运营需求-产品设计默认开启
      */
     @JvmField
     @Volatile
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotStatisticsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotStatisticsListenerManager.kt
index 73e0bf99da..d75d089b5b 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotStatisticsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotStatisticsListenerManager.kt
@@ -30,10 +30,10 @@ object CallerAutopilotStatisticsListenerManager : CallerBase<IMoGoAutopilotStati
                 )
             } else {
                 CallerTrace.write("AutopilotStatistics", mapOf("status" to it.status, "failedMessage" to (it.failedMessage?.msg?:""),
-                        "reqSource" to it.req.source,
-                        "reqMode" to it.req.mode,
-                        "reqCmdOrderId" to (it.req.cmdInfo.orderId?:""),
-                        "reqCmdFirstFlag" to it.req.cmdInfo.firstAutopilotFlag,
+                        "reqSource" to it.req?.source,
+                        "reqMode" to it.req?.mode,
+                        "reqCmdOrderId" to (it.req?.cmdInfo?.orderId?:""),
+                        "reqCmdFirstFlag" to it.req?.cmdInfo?.firstAutopilotFlag,
                         "usedTime" to it.usedTime,
                         "isDemoMode" to FunctionBuildConfig.isDemoMode,
                         "isTakeoverRemind" to FunctionBuildConfig.isTakeoverRemind))
diff --git a/core/mogo-core-res/src/main/res/values/operate_panel_config.xml b/core/mogo-core-res/src/main/res/values/operate_panel_config.xml
index 1547b1b2b8..309989d4a5 100644
--- a/core/mogo-core-res/src/main/res/values/operate_panel_config.xml
+++ b/core/mogo-core-res/src/main/res/values/operate_panel_config.xml
@@ -17,7 +17,7 @@
     <bool name="v2n_green_wave">false</bool>
 
     <!--    是否展示obu的v2i-->
-    <bool name="v2i_total_switch">false</bool>
+    <bool name="v2i_total_switch">true</bool>
 
     <!--    是否展示闯红灯预警-->
     <bool name="v2i_red_green_warning">false</bool>