diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
index e11b1454b2..24aa7c7ad1 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -31,6 +31,6 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
 
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
         val autopilotControlCmdParameter = AutopilotControlCmdParameter("light", trafficLightResult)
-//        CallerAutoPilotManager.sendDataToAutopilot(GsonUtils.toJson(autopilotControlCmdParameter))
+        CallerAutoPilotManager.sendDataToAutopilot(GsonUtils.toJson(autopilotControlCmdParameter))
     }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
index 1b93808e8d..876927e100 100644
--- a/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
+++ b/core/function-impl/mogo-core-function-smp/src/main/java/com/mogo/eagle/core/function/smp/SmallMapDirectionView.java
@@ -166,9 +166,6 @@ public class SmallMapDirectionView
     @Override
     public void onLocationChanged(@Nullable MogoLocation location) {
         //Logger.d(TAG, "onCarLocationChanged2 :" + location.getLatitude()+":"+location.getLongitude());
-        if (location == null){
-            return;
-        }
         LatLng currentLatLng = new LatLng(location.getLatitude(), location.getLongitude());
         //更新车辆位置
         if (mCarMarker != null) {
diff --git a/gradle.properties b/gradle.properties
index 88120839ac..16be0dcc45 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -80,7 +80,7 @@ MOGO_TRAFFICLIVE_VERSION=1.3.15
 MOGO_LOCATION_VERSION=1.3.15
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.0.0.18
+MAP_SDK_VERSION=2.0.0.20
 # websocket
 WEBSOCKET_VERSION=1.1.7
 ## 产品库必备配置，产品库自动对versionCode和versionName版本进行升级
diff --git a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
index e5bff06f9d..0dc6ae716e 100644
--- a/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
+++ b/libraries/map-custom/src/main/java/com/mogo/map/impl/custom/AMapViewWrapper.java
@@ -800,18 +800,18 @@ public class AMapViewWrapper implements IMogoMapView,
     }
 
 
-//    @Override
-//    public void onMapInit() {
-//        Logger.i(TAG, "autoop--onMapInit: ");
-//        MogoMapListenerHandler.getInstance().onMapLoaded();
-//    }
+    @Override
+    public void onMapInit() {
+        Logger.i(TAG, "autoop--onMapInit: ");
+        MogoMapListenerHandler.getInstance().onMapLoaded();
+    }
 
     @Override
     public void onMapLoaded() {
         Logger.i(TAG, "autoop--onMapLoaded: ");
         MapAutoApi.INSTANCE.getMyLocationStyle().myLocationIcon(HdMapBuildConfig.currentCarVrIconRes, true); //修改自车模型，未来需区分车的类型
         //mMapView.getMapAutoViewHelper().setRenderFrequency(true, 50);// 地图刷新频率
-        MogoMapListenerHandler.getInstance().onMapLoaded();
+        //MogoMapListenerHandler.getInstance().onMapLoaded();
         mMapLoaded = true;
         CameraPosition cameraPosition = mMapView.getMapAutoViewHelper().getCameraPosition();
         Trace.beginSection("timer.onCameraChangeFinish");
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
index 23d171d651..c8e208b5ae 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/RouteOverlayDrawer.java
@@ -119,22 +119,21 @@ public class RouteOverlayDrawer {
             for (MogoLatLng latLng : routeList) {
                 mPolylinePointList.add(latLng);
             }
-//            mPolylineColors.clear();
+            mPolylineColors.clear();
 //            mPolylineColors.addAll(ColorUtils.gradientAlpha_("#FF2AAFFD", "#7b2965ED", "#002965ED", mPolylinePointList.size()));
             long start = System.currentTimeMillis();
-//            List<Integer>  list =  new ArrayList<>();
+            List<Integer>  list =  new ArrayList<>();
 //            list =  ColorUtils.gradientAlpha("#FF2AAFFD", "#002965ED", mPolylinePointList.size());
             int[] startColor = ColorUtils.hexToArgb("#FF2AAFFD");
             int[] endColor   = ColorUtils.hexToArgb("#002965ED");
-//            list.add(Color.argb(startColor[0],startColor[1],startColor[2],startColor[3]));
-//            list.add(Color.argb(endColor[0],endColor[1],endColor[2],endColor[3]));
+            list.add(Color.argb(startColor[0],startColor[1],startColor[2],startColor[3]));
+            list.add(Color.argb(endColor[0],endColor[1],endColor[2],endColor[3]));
             long end = System.currentTimeMillis();
             Log.d("MogoRouteOverlayManager","get color cost : "+ (end-start));
 
-//            mPolylineColors.addAll(list);
+            mPolylineColors.addAll(list);
             // 线条粗细，渐变，渐变色值
-//            mPolylineOptions.width(12).useGradient(true).colorValues(mPolylineColors);
-            mPolylineOptions.width(12).useGradient(false).color(Color.argb(startColor[0],startColor[1],startColor[2],startColor[3]));
+            mPolylineOptions.width(12).useGradient(true).colorValues(mPolylineColors);
             if (mMoGoPolyline == null || mMoGoPolyline.isDestroyed()){
                 mPolylineOptions.points(mPolylinePointList);
                 mMoGoPolyline = mogoOverlayManager.addPolyline(mPolylineOptions);