diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt
index 620a848581..c7362178d4 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/map/CallerMapRoadListenerManager.kt
@@ -1,15 +1,19 @@
 package com.mogo.eagle.core.function.call.map
 
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhidaoauto.map.data.road.StopLine
 import java.util.concurrent.ConcurrentHashMap
+import kotlin.properties.Delegates
 
 object CallerMapRoadListenerManager {
 
     interface OnRoadListener {
 
-        fun onRoadIdInfo(roadId: String)
+        fun onRoadIdInfo(roadId: String){}
 
-        fun onStopLineInfo(info: StopLine)
+        fun onStopLineInfo(info: StopLine){}
+
+        fun onRoadChange(cross: Boolean){}
     }
 
     private val listeners by lazy {
@@ -42,4 +46,18 @@ object CallerMapRoadListenerManager {
             entry.value.onStopLineInfo(stopLine)
         }
     }
+
+    private var mCross: Boolean by Delegates.observable(false) { _, oldValue, newValue ->
+        if(oldValue != newValue){
+            Logger.d("emArrow","cross : $newValue")
+            listeners.forEach { entry ->
+                entry.value.onRoadChange(newValue)
+            }
+        }
+    }
+
+    fun invokeRoadChange(cross: Boolean) {
+        mCross = cross
+
+    }
 }
\ No newline at end of file
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
index 2db6ba4d9f..721f053d0b 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.kt
@@ -6,22 +6,21 @@ import android.os.Bundle
 import android.text.TextUtils
 import android.view.MotionEvent
 import android.view.View
-import chassis.Chassis
 import com.mogo.eagle.core.data.deva.chain.ChainConstant
 import com.mogo.eagle.core.data.enums.TrafficTypeEnum
 import com.mogo.eagle.core.data.map.MogoLatLng
 import com.mogo.eagle.core.data.map.MogoLocation
-import com.mogo.eagle.core.function.call.autopilot.CallerChassisDoorStateListenerManager
 import com.mogo.eagle.core.function.call.map.CallerMapDataCollectorManager.setIsInit
 import com.mogo.eagle.core.function.call.map.CallerMapDevaListenerManager.invokeUploadLogFile
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.invokeListenersOnRoadIdGet
 import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.invokeListenersOnStopLineGet
+import com.mogo.eagle.core.function.call.map.CallerMapRoadListenerManager.invokeRoadChange
 import com.mogo.eagle.core.function.call.map.CallerMapRomaListener.invokeMapRomaStatus
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.e
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.i
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.w
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_MAP
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.map.listener.MogoMapListenerHandler.Companion.mogoMapListenerHandler
@@ -79,7 +78,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         private set
 
     init {
-        i(SceneConstant.M_MAP + TAG, "AMapViewWrapper: init")
+        i(M_MAP + TAG, "AMapViewWrapper: init")
         this.mMapView = mMapView
         initViews()
         initListeners()
@@ -89,7 +88,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
     private fun initViews() {
         // 初始化首次地图进入的时候的样式， MapAutoApi.INSTANCE.init(context, mapParams);将影响这里的数据
         val mapStyle = mMapView.getMapStyleParams()!!.getStyleMode()
-        d(SceneConstant.M_MAP + TAG, "默认配置地图模式：mapStyle=$mapStyle")
+        d(M_MAP + TAG, "默认配置地图模式：mapStyle=$mapStyle")
         when (mapStyle) {
             MapAutoApi.MAP_STYLE_DAY -> mCurrentUI = EnumMapUI.MAP_STYLE_DAY
             MapAutoApi.MAP_STYLE_DAY_NAV -> mCurrentUI = EnumMapUI.MAP_STYLE_DAY_NAV
@@ -97,7 +96,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
             MapAutoApi.MAP_STYLE_NIGHT_NAV -> mCurrentUI = EnumMapUI.MAP_STYLE_NIGHT_NAV
             MapAutoApi.MAP_STYLE_DAY_VR -> mCurrentUI = EnumMapUI.MAP_STYLE_DAY_VR
             MapAutoApi.MAP_STYLE_NIGHT_VR -> mCurrentUI = EnumMapUI.MAP_STYLE_NIGHT_VR
-            else -> e(SceneConstant.M_MAP + TAG, "暂不支持此地图模式，默认使用VR夜间模式")
+            else -> e(M_MAP + TAG, "暂不支持此地图模式，默认使用VR夜间模式")
         }
     }
 
@@ -112,7 +111,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         mMapView.setOnMapViewVisualAngleChangeListener(this)
         mMapView.setOnRoadInfoListener(this, 1)
         registerLogListener(this, mMapView.getEventController())
-        d(SceneConstant.M_MAP + TAG, "initListeners - setOnMapStyleListener - view $mMapView")
+        d(M_MAP + TAG, "initListeners - setOnMapStyleListener - view $mMapView")
     }
 
     override fun getMapView(): View {
@@ -125,17 +124,17 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
 
     override fun onCreate(bundle: Bundle?) {
         mMapView.onCreate(bundle)
-        d(SceneConstant.M_MAP + TAG, "map onCreate")
+        d(M_MAP + TAG, "map onCreate")
     }
 
     override fun onResume() {
         mMapView.onResume()
-        d(SceneConstant.M_MAP + TAG, "map onResume")
+        d(M_MAP + TAG, "map onResume")
     }
 
     override fun onPause() {
         mMapView.onPause()
-        d(SceneConstant.M_MAP + TAG, "map onPause")
+        d(M_MAP + TAG, "map onPause")
     }
 
     override fun onDestroy() {
@@ -148,12 +147,12 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         mMapView.setOnMapStyleListener(null)
         mMapView.setOnMapViewVisualAngleChangeListener(null)
         unregisterLogListener(this, mMapView.getEventController())
-        d(SceneConstant.M_MAP + TAG, "map onDestroy")
+        d(M_MAP + TAG, "map onDestroy")
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
         mMapView.onSaveInstanceState(outState)
-        d(SceneConstant.M_MAP + TAG, "map onSaveInstanceState")
+        d(M_MAP + TAG, "map onSaveInstanceState")
     }
 
     override fun onLowMemory() {}
@@ -166,7 +165,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         paramIndexes = [-1]
     )
     override fun onMapInit() {
-        i(SceneConstant.M_MAP + TAG, "onMapInit: ")
+        i(M_MAP + TAG, "onMapInit: ")
         mogoMapListenerHandler.onMapLoaded()
     }
 
@@ -178,7 +177,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         paramIndexes = [-1]
     )
     override fun onMapLoaded() {
-        i(SceneConstant.M_MAP + TAG, "onMapLoaded: ")
+        i(M_MAP + TAG, "onMapLoaded: ")
         if (checkAMapView()) {
             val cameraPosition = mMapView.getMapAutoViewHelper()!!
                 .getCameraPosition()
@@ -208,19 +207,33 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         }
     }
 
-    private var roadCross:RoadCross? by Delegates.observable(null){ _,_,newValue ->
-
+    private var roadCross:RoadCross? by Delegates.observable(null){ _,oldValue,newValue ->
+        oldValue?.let {
+            //对驶入驶出路口做二次过滤，防止多次回调
+            if(it.status == 0 && newValue!!.status == 1){
+                //进入路口
+                i("$M_MAP$TAG","进入路口 :${newValue.cross_id}")
+                invokeRoadChange(true)
+            }
+            if((it.status == 1 && newValue!!.status == 0) || (newValue!!.cross_id_end.isNotEmpty() && oldValue.cross_id_end != newValue!!.cross_id_end)){
+                //驶出路口
+                i("$M_MAP$TAG","驶出路口 上个:${oldValue.cross_id_end} , 下个:${newValue.cross_id_end}")
+                invokeRoadChange(false)
+            }
+        }
     }
 
     override fun onRoadCrossInfo(roadCross: RoadCross?) {
-        d(SceneConstant.M_MAP + TAG, "onRoadCrossInfo:roadCross$roadCross")
-
+        d(M_MAP + TAG, "onRoadCrossInfo:roadCross$roadCross")
+        roadCross?.let {
+            this.roadCross = it
+        }
     }
 
     override fun onStopLineInfo(stopLine: StopLine?) {
         stopLine?.let {
             if(it.road_id.isNotEmpty() && it.points.size > 0){
-                d(SceneConstant.M_MAP + TAG, "onStopLineInfo: $it")
+                d(M_MAP + TAG, "onStopLineInfo: $it")
                 invokeListenersOnStopLineGet(it)
             }
         }
@@ -240,7 +253,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
 
     override fun changeMapVisualAngle(angelMode: VisualAngleMode, mogoLatLng: MogoLatLng?) {
         if(visualLock){
-            e(SceneConstant.M_MAP + TAG, "视角切换已锁定")
+            e(M_MAP + TAG, "视角切换已锁定")
             return
         }
         val mapAutoViewHelper = mMapView.getMapAutoViewHelper()
@@ -248,7 +261,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
             currentMapVisualAngle = angelMode
             if (angelMode == VisualAngleMode.MODE_CLOSE_SIGHT) {
                 if (mogoLatLng == null) {
-                    e(SceneConstant.M_MAP + TAG, "切换地图近景需要传入要移动的经纬度数据")
+                    e(M_MAP + TAG, "切换地图近景需要传入要移动的经纬度数据")
                     return
                 }
                 // 近景传入经纬度为点击地图上静态marker经纬度数据，为GPS坐标点。
@@ -296,16 +309,16 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
 
     private fun checkAMapView(): Boolean {
         if (mMapView.getMapAutoViewHelper() == null) {
-            e(SceneConstant.M_MAP + TAG, "自研mapView实例为空，请检查")
+            e(M_MAP + TAG, "自研mapView实例为空，请检查")
             return false
         }
         return true
     }
 
     override fun moveToCenter(latLng: MogoLatLng, animate: Boolean) {
-        d(SceneConstant.M_MAP + TAG, "move to center $latLng")
+        d(M_MAP + TAG, "move to center $latLng")
         if (latLng.lat == 0.0 || latLng.lon == 0.0) {
-            e(SceneConstant.M_MAP + TAG, "latLng = null or is illegal")
+            e(M_MAP + TAG, "latLng = null or is illegal")
             return
         }
         if (checkAMapView()) {
@@ -315,7 +328,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
     }
 
     override fun showMyLocation(visible: Boolean) {
-        d(SceneConstant.M_MAP + TAG, "showMyLocation1 $visible")
+        d(M_MAP + TAG, "showMyLocation1 $visible")
         // 如果是VR模式
         if (isVrMold) {
             return
@@ -339,7 +352,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         get() {
             val isVrMode =
                 mCurrentUI === EnumMapUI.MAP_STYLE_NIGHT_VR || mCurrentUI === EnumMapUI.MAP_STYLE_DAY_VR
-            d(SceneConstant.M_MAP + TAG, "是否是VR模式: $isVrMode")
+            d(M_MAP + TAG, "是否是VR模式: $isVrMode")
             return isVrMode
         }
 
@@ -441,11 +454,11 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
             return
         }
         if (isVrMold) {
-            w(SceneConstant.M_MAP + TAG, "vr 模式下忽略该设置")
+            w(M_MAP + TAG, "vr 模式下忽略该设置")
             return
         }
         i(
-            SceneConstant.M_MAP + TAG,
+            M_MAP + TAG,
             "showBounds : " + carPosition.toString() + " , " + bound.toShortString() + " , " + lockCarPosition
         )
         try {
@@ -461,7 +474,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
                 )
             )
         } catch (e: Exception) {
-            e(SceneConstant.M_MAP + TAG, " error : $e")
+            e(M_MAP + TAG, " error : $e")
         }
     }
 
@@ -555,7 +568,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
     }
 
     override fun onMapViewVisualAngleChange(type: Int) {
-        d(SceneConstant.M_MAP + TAG, " 地图自动更改视距 currentThread : " + Thread.currentThread().name)
+        d(M_MAP + TAG, " 地图自动更改视距 currentThread : " + Thread.currentThread().name)
         currentMapVisualAngle = getVisualAngleMode(type)
         mogoMapListenerHandler.onMapVisualAngleChanged(currentMapVisualAngle)
     }
@@ -647,7 +660,7 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
      * 加载3D模型
      */
     private fun loadPreVehicleModel() {
-        d(SceneConstant.M_MAP + TAG, "添加感知模型到地图中……")
+        d(M_MAP + TAG, "添加感知模型到地图中……")
         ThreadUtils.getIoPool().submit {
             addPreVehicleModelWeiZhi(
                 TrafficTypeEnum.TYPE_TRAFFIC_ID_WEI_ZHI,
@@ -693,10 +706,10 @@ class AMapViewWrapper(mMapView: MapAutoView) : IMogoMapView, IMogoMapUIControlle
         } else {
             map.addPreVehicleModel(typeTrafficId.type, typeTrafficId.traffic3DNightIconId)
         }
-        d(SceneConstant.M_MAP + TAG, logMsg + preVehicleStrWeiZhi)
+        d(M_MAP + TAG, logMsg + preVehicleStrWeiZhi)
         if (preVehicleStrWeiZhi == null) {
             UiThreadHandler.postDelayed({
-                w(SceneConstant.M_MAP + TAG, "添加感知模型到地图中失败，尝试重复添加……")
+                w(M_MAP + TAG, "添加感知模型到地图中失败，尝试重复添加……")
                 addPreVehicleModelWeiZhi(typeTrafficId, logMsg)
             }, 1000L)
         }