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 fabda1fd41..fab9ac7d3f 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
@@ -17,6 +17,7 @@ import androidx.localbroadcastmanager.content.LocalBroadcastManager
 import com.mogo.eagle.core.function.main.MainMoGoApplication
 import com.mogo.eagle.core.network.utils.GsonUtil
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
+import com.mogo.eagle.core.utilcode.util.UiThreadHandler
 import com.mogo.och.common.module.utils.DateTimeUtil
 import com.mogo.och.taxi.R
 import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean
@@ -55,15 +56,15 @@ public class DebugView @JvmOverloads constructor(
         private var logHistoryTextView: TextView? = null
 
         fun printInfoMsg(msg: String) {
-            printMsg(msg, MainMoGoApplication.getApp().getColor(R.color.background_info))
+            printMsg("Info $msg", MainMoGoApplication.getApp().getColor(R.color.background_info))
         }
 
         fun printWarnMsg(msg: String) {
-            printMsg(msg, MainMoGoApplication.getApp().getColor(R.color.background_warn))
+            printMsg("Warn $msg", MainMoGoApplication.getApp().getColor(R.color.background_warn))
         }
 
         fun printErrorMsg(msg: String) {
-            printMsg(msg, MainMoGoApplication.getApp().getColor(R.color.background_error))
+            printMsg("Error $msg", MainMoGoApplication.getApp().getColor(R.color.background_error))
         }
 
         private fun printMsg(msg: String, textColor: Int) {
@@ -74,12 +75,15 @@ public class DebugView @JvmOverloads constructor(
                 spannableMsg.setSpan(
                     ForegroundColorSpan(textColor), 0, msg.length, Spanned.SPAN_EXCLUSIVE_EXCLUSIVE
                 )
-                it.append(spannableMsg.toString())
+                UiThreadHandler.post({
+                    it.append("\n")
+                    it.append(spannableMsg.toString())
 
-                val offset: Int = it.lineCount * it.lineHeight
-                if (offset > it.height) {
-                    it.scrollTo(0, offset - it.height)
-                }
+                    val offset: Int = it.lineCount * it.lineHeight
+                    if (offset > it.height) {
+                        it.scrollTo(0, offset - it.height)
+                    }
+                }, UiThreadHandler.MODE.QUEUE)
             }
         }
 
@@ -143,11 +147,11 @@ public class DebugView @JvmOverloads constructor(
         val curContrail = TaxiTaskModel.getCurrentTaskTrajectory()
         currentDataTimestamps.text = "【当前数据返回时间】${currentDateTimeString()}"
         currentCarStatus.text =
-            "【当前车辆状态】${data?.servingStatus} / ${if (data?.servingStatus == 1) "开始接单" else "暂停接单"}"
+            "【当前车辆状态】${data?.servingStatus} --> ${if (data?.servingStatus == 1) "开始接单" else "暂停接单"}"
         currentTaskType.text =
-            "【当前任务类型】${data?.taskType} / ${TaskTypeEnum.valueOf(data?.taskType ?: -1)?.name}"
+            "【当前任务类型】${data?.taskType} --> ${TaskTypeEnum.valueOf(data?.taskType ?: -1)?.name}"
         currentStatus.text =
-            "【当前任务状态】${data?.currentStatus} / ${TaskStatusEnum.valueOf(data?.currentStatus ?: -1)?.name}"
+            "【当前任务状态】${data?.currentStatus} --> ${TaskStatusEnum.valueOf(data?.currentStatus ?: -1)?.name}"
         currentLineId.text = "【当前任务lineId】 ${data?.lineId}"
         taskStartSite.text =
             "【当前任务起点】${data?.startSite?.siteName} siteId=${data?.startSite?.siteId}"
@@ -156,7 +160,7 @@ public class DebugView @JvmOverloads constructor(
         currentOrder.text = "【订单信息】${if (data?.order == null) "null" else "不为空"}"
         orderNo.text = "【订单编号】${data?.order?.orderNo}"
         orderStatus.text =
-            "【订单状态】${data?.order?.orderStatus} / ${TaxiOrderStatusEnum.valueOf(data?.order?.orderStatus ?: -1)?.name}"
+            "【订单状态】${data?.order?.orderStatus} --> ${TaxiOrderStatusEnum.valueOf(data?.order?.orderStatus ?: -1)?.name}"
         orderStartSiteInfo.text =
             "【订单起点】${data?.order?.orderStartSite?.siteName} siteId=${data?.order?.orderStartSite?.siteId}"
         orderEndSiteInfo.text =
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
index 51cee6c1a1..5d417685ce 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiCurrentTaskViewModel.kt
@@ -25,6 +25,7 @@ import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager
 import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager.cancelOrder
+import com.mogo.och.taxi.ui.debug.DebugView
 import com.mogo.och.taxi.ui.unmanned.TaskWithOrderUIState
 import com.mogo.och.taxi.ui.unmanned.UnmannedState
 import com.mogo.och.taxi.utils.TaxiTrajectoryManager
@@ -82,8 +83,10 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     fun startOrStopCurrentTaskWithOrderLoop(start: Boolean) {
         d(TAG, "startOrStopCurrentTaskWithOrderLoop(): isStart=$start")
         if (start) {
+            DebugView.printInfoMsg("[查询TaskWithOrder信息] start loop")
             TaxiTaskModel.startQueryCurrentTaskWithOrderLoop()
         } else {
+            DebugView.printInfoMsg("[查询TaskWithOrder信息] stop loop")
             TaxiTaskModel.stopQueryCurrentTaskWithOrderLoop()
         }
     }
@@ -91,21 +94,24 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     private fun cancelOrder(cancelType: Int) {
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.order?.also {
-            TaxiTaskModel.cancelOrder(it.orderNo,cancelType)
+            TaxiTaskModel.cancelOrder(it.orderNo, cancelType)
         }
     }
 
     private fun jumpPassengerCheck() {
+        DebugView.printInfoMsg("[开始服务] 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")
                         d(TAG, "jumpPassengerCheck onSuccess:")
                     }
 
                     override fun onFail(code: Int, msg: String?) {
+                        DebugView.printInfoMsg("[开始服务] 请求fail, code=$code, msg=$msg")
                         d(TAG, "jumpPassengerCheck onFail: code=$code, msg=$msg")
                     }
                 })
@@ -113,16 +119,19 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
     }
 
     private fun journeyCompleted() {
+        DebugView.printInfoMsg("[服务完成] 准备发送请求")
         val currentTaskWithOrder = TaxiTaskModel.getCurrentTaskWithOrder()
         currentTaskWithOrder?.order?.also {
             TaxiTaskWithOrderServiceManager.orderCompleted(AbsMogoApplication.getApp().applicationContext,
                 it.orderNo,
                 object : OchCommonServiceCallback<BaseData> {
                     override fun onSuccess(data: BaseData?) {
+                        DebugView.printInfoMsg("[服务完成] 请求success")
                         d(TAG, "journeyCompleted onSuccess")
                     }
 
                     override fun onFail(code: Int, msg: String?) {
+                        DebugView.printInfoMsg("[服务完成] 请求fail, code=$code, msg=$msg")
                         d(TAG, "journeyCompleted onFail: code=$code, msg=$msg")
                     }
                 })
@@ -191,6 +200,7 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
 
     override fun onTaskWithOrderDataChanged(result: QueryCurrentTaskRespBean.Result?) {
         d(TAG, "onTaskWithOrderChanged = result = " + GsonUtil.jsonFromObject(result))
+        DebugView.printInfoMsg("[查询TaskWithOrder信息] 更新数据, 刷新UI")
         updateTaskAndOrderUi(result)
     }
 
@@ -242,14 +252,16 @@ class TaxiCurrentTaskViewModel : BaseViewModel<UnmannedState, TaskUiIntent>(),
         currentTaskWithOrder: QueryCurrentTaskRespBean.Result?
     ) {
         if (currentTaskWithOrder?.endSite != null && currentTaskWithOrder.startSite != null
-            && currentTaskWithOrder.currentStatus < TaskStatusEnum.CompleteTask.code) {
+            && currentTaskWithOrder.currentStatus < TaskStatusEnum.CompleteTask.code
+        ) {
             VoiceNotice.showNotice("暂停接单啦！要完成当前订单哦")
         } else {
             VoiceNotice.showNotice("暂停接单啦")
         }
         // TODO 如果当前有订单就不要刷新
         if (currentTaskWithOrder?.startSite != null &&
-            currentTaskWithOrder.endSite != null){
+            currentTaskWithOrder.endSite != null
+        ) {
             return
         }
         updateDriveToNearestStationTaskUI(driveToNearestStationTask)
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 7b85c8023e..f00befbff5 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
@@ -71,6 +71,7 @@ import com.mogo.och.taxi.constant.TaxiOrderStatusEnum
 import com.mogo.och.taxi.constant.TaxiUnmannedConst
 import com.mogo.och.taxi.constant.TaxiUnmannedConst.Companion.BUSINESSTYPE
 import com.mogo.och.taxi.network.TaxiTaskWithOrderServiceManager
+import com.mogo.och.taxi.ui.debug.DebugView
 import com.mogo.och.taxi.utils.RxJavaUtils
 import com.mogo.och.taxi.utils.TaxiAnalyticsManager
 import com.mogo.och.taxi.utils.TaxiTrajectoryManager
@@ -325,6 +326,7 @@ object TaxiTaskModel {
             override fun onAutopilotSNRequest() {}
             override fun onAutopilotArriveAtStation(arrivalNotification: ArrivalNotification?) {
                 i(TAG, "onAutopilotArriveAtStation = ${arrivalNotification.toString()}")
+                DebugView.printInfoMsg("[MAP到站通知] 上报到站，location=${arrivalNotification?.endLocation}")
                 if (arrivalNotification == null || !checkCurrentTaskCondition() ||
                     mCurrentTaskWithOrder?.currentStatus == TaskStatusEnum.CompleteTask.code
                 ) {
@@ -387,6 +389,7 @@ object TaxiTaskModel {
                     d(
                         TAG, "getWayPointsList.Size = ${globalPathResp.wayPointsList.size}"
                     )
+                    DebugView.printInfoMsg("[MAP全局规划回调] 回调，getWayPointsList.Size=${globalPathResp.wayPointsList.size}")
                     if (it.size > 0) {
                         // 本地计算全路径长度（实时更新剩余距离，剩余时间，预计到达时间）
                         if (checkCurrentTaskCondition()) {
@@ -416,6 +419,7 @@ object TaxiTaskModel {
                 startFailedCode: String,
                 startFailedMessage: String
             ) {
+                DebugView.printInfoMsg("[启自驾回调] 执行失败，code=$startFailedCode, msg=$startFailedMessage")
                 TaxiAnalyticsManager.getInstance()
                     .triggerStartAutopilotFailureEventByAdas(startFailedCode, startFailedMessage)
                 if (mADASStatusCallback != null && !FunctionBuildConfig.isDemoMode) {
@@ -523,6 +527,7 @@ object TaxiTaskModel {
             "judgeDriveToNearestStationTaskStation() ${virtualTask.siteName} distance = $distance"
         )
         if (distance <= TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE) { // 15米内到站
+            DebugView.printInfoMsg("[高德定位围栏] 触发围栏，任务类型：DriveToNearestStationTask，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米")
             submitArriveSite(virtualTask.siteId, true)
         }
     }
@@ -561,6 +566,7 @@ object TaxiTaskModel {
      * @isArriveAtEndSite: true 终点, false 起点
      */
     fun submitArriveSite(siteId: Long, isArriveAtEndSite: Boolean) {
+        DebugView.printInfoMsg("[上报ArriveSite] siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
         i(TAG, message = "submitArriveSite: siteId=$siteId isArriveAtEndSite=$isArriveAtEndSite")
         TaxiTaskWithOrderServiceManager.arriveSite(
             mContext,
@@ -568,6 +574,7 @@ object TaxiTaskModel {
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
                     if (data == null || data.code != 0) return
+                    DebugView.printInfoMsg("[上报ArriveSite] success siteId=$siteId, isArriveAtEndSite=$isArriveAtEndSite")
                     d(TAG, "submitArriveSite-onSuccess data=" + GsonUtil.jsonFromObject(data))
                     mDriveToNearestStationTask = null
                     if (isArriveAtEndSite) {
@@ -578,6 +585,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[上报ArriveSite] failed, code=$code, msg=$msg")
                     d(TAG, "code=$code msg=$msg")
                 }
             })
@@ -633,10 +641,11 @@ object TaxiTaskModel {
             AbsMogoApplication.getApp().applicationContext,
             object : OchCommonServiceCallback<QueryCurrentTaskRespBean> {
                 override fun onSuccess(data: QueryCurrentTaskRespBean?) {
+                    //DebugView.printInfoMsg("[查询TaskWithOrder信息] success")
                     if (data?.data == null) {
                         d(
                             TAG,
-                            "queryCurrentTaskOnce onSuccess: data.code != 0 || data === null || data.data === null"
+                            "queryCurrentTaskOnce onSuccess:  data == null || data.data == null"
                         )
                         return
                     }
@@ -690,7 +699,8 @@ object TaxiTaskModel {
                         // 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
-                            && !QueryCurrentTaskRespBean.isOrderArriveAtStart(result)) {
+                            && !QueryCurrentTaskRespBean.isOrderArriveAtStart(result)
+                        ) {
                             mTaxiTaskWithOrderCallbackMap.forEach {
                                 val listener = it.value
                                 listener.onTaskCompleted(
@@ -748,6 +758,7 @@ object TaxiTaskModel {
 
                 override fun onFail(code: Int, msg: String?) {
                     d(TAG, "queryCurrentTaskOnce onFail: code=$code, msg=$msg")
+                    DebugView.printErrorMsg("[查询TaskWithOrder信息] fail, code=$code, msg=$msg")
                 }
             })
     }
@@ -755,15 +766,18 @@ object TaxiTaskModel {
     /**
      * 取消订单 进行中/待服务
      */
-    fun cancelOrder(orderNo: String,cancelType: Int){
+    fun cancelOrder(orderNo: String, cancelType: Int) {
+        DebugView.printInfoMsg("[取消订单] 准备发送请求")
         TaxiTaskWithOrderServiceManager.cancelOrder(AbsMogoApplication.getApp().applicationContext,
             orderNo, cancelType,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
+                    DebugView.printInfoMsg("[取消订单] 请求success")
                     d(TAG, "handleCancelOrder() = onSuccess")
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[取消订单] 请求fail, code=$code, msg=$msg")
                     d(TAG, "handleCancelOrder() $code $msg")
                 }
             })
@@ -836,22 +850,26 @@ object TaxiTaskModel {
     }
 
     fun startTask(lineId: Long) {
+        DebugView.printInfoMsg("[开始任务] 准备发送请求")
         TaxiTaskWithOrderServiceManager.startTask(
             mContext,
             lineId,
             object : OchCommonServiceCallback<BaseData> {
                 override fun onSuccess(data: BaseData?) {
+                    DebugView.printInfoMsg("[开始任务] 请求success")
                     startAutoPilot() //自驾开启
                     d(TAG, "startTask onSuccess: data=${GsonUtil.jsonFromObject(data)}")
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[开始任务] 请求fail, code=$code, msg=$msg")
                     d(TAG, "startTask onFail: code=$code, msg=$msg")
                 }
             })
     }
 
     fun prepareNextTask(siteId: Long) {
+        DebugView.printInfoMsg("[PrepareNextTask] 准备发送请求")
         TaxiTaskWithOrderServiceManager.prepareTask(
             mContext,
             siteId,
@@ -862,6 +880,7 @@ object TaxiTaskModel {
                         "prepareNextTask onSuccess:${GsonUtil.jsonFromObject(data)}, " +
                                 "isCarServingStatus = ${TaxiCarServingStatusManager.isCarServingStatus()}"
                     )
+                    DebugView.printInfoMsg("[PrepareNextTask] 请求success")
                     if (data?.data == null) return
                     //去下载轨迹, 下发给工控机下载
 //                    queryTaskTrajectoryByLineIds(
@@ -871,6 +890,7 @@ object TaxiTaskModel {
                 }
 
                 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()) {
                         startPrepareTaskDelay120S(siteId)
@@ -880,6 +900,7 @@ object TaxiTaskModel {
     }
 
     fun startPrepareTaskDelay120S(siteId: Long) {
+        DebugView.printInfoMsg("[PrepareNextTask] 倒计时${TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S/1000}秒后prepareNextTask")
         UiThreadHandler.postDelayed({
             prepareNextTask(siteId)
         }, TaxiUnmannedConst.TIMER_PREPARE_TASK_INTERVAL_120S)
@@ -889,6 +910,7 @@ object TaxiTaskModel {
      * 查询当前任务的轨迹
      */
     fun queryTaskTrajectoryByLineIds(planningLineIds: Array<Long>, currentTaskLineId: Long) {
+        DebugView.printInfoMsg("[查询轨迹信息] 准备发送请求")
         TaxiTaskWithOrderServiceManager.queryTrajectoryByLindIds(
             mContext,
             planningLineIds,
@@ -898,6 +920,7 @@ object TaxiTaskModel {
                         TAG,
                         "queryTaskTrajectoryByLineIds onSuccess: ${GsonUtil.jsonFromObject(data?.data)}"
                     )
+                    DebugView.printInfoMsg("[查询轨迹信息] 请求success")
                     data?.data?.also {
                         mTaskTrajectoryList.addAll(it)
                         mCurrentTaskTrajectory = it.first { currentTaskLineId == it.lineId }
@@ -909,6 +932,7 @@ object TaxiTaskModel {
                 }
 
                 override fun onFail(code: Int, msg: String?) {
+                    DebugView.printErrorMsg("[查询轨迹信息] 请求fail, code=$code, msg=$msg")
                     d(TAG, "queryTaskTrajectoryByLineIds onFail: code=$code, msg=$msg")
                 }
             })
@@ -920,10 +944,12 @@ object TaxiTaskModel {
             return
         }
         if (TaxiCarServingStatusManager.isCarServingStatus()) {//接单状态下,去结束
+            DebugView.printInfoMsg("[暂停接单] 准备发送请求")
             TaxiTaskWithOrderServiceManager.endService(
                 mContext,
                 object : OchCommonServiceCallback<BaseData> {
                     override fun onSuccess(data: BaseData?) {
+                        DebugView.printInfoMsg("[暂停接单] 请求success")
                         loginService?.queryLoginStatusByNet()
                         //需要将虚拟任务停掉, 虚拟任务会再开始接单后获取新的
                         mDriveToNearestStationTask = null
@@ -935,20 +961,24 @@ object TaxiTaskModel {
 
                     override fun onError() {
                         mTaxiCarServiceCallback?.onCarEndServiceError()
+                        DebugView.printErrorMsg("[暂停接单] 请求error")
                     }
 
                     override fun onFail(code: Int, msg: String) {
+                        DebugView.printErrorMsg("[暂停接单] 请求fail, code=$code, msg=$msg")
                         mTaxiCarServiceCallback?.onCarEndServiceFailed(code, msg)
                     }
                 })
         } else {
             //暂停接单状态下,去接单
+            DebugView.printInfoMsg("[开始接单] 准备发送请求")
             TaxiTaskWithOrderServiceManager.startService(mContext,
                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().latitude,
                 CallerChassisLocationGCJ02ListenerManager.getChassisLocationGCJ02().longitude,
                 object : OchCommonServiceCallback<StartServiceRespBean> {
                     override fun onSuccess(data: StartServiceRespBean?) {
                         if (data == null) return
+                        DebugView.printInfoMsg("[开始接单] 请求success")
                         d(TAG, "data.data=" + GsonUtil.jsonFromObject(data.data))
                         loginService?.queryLoginStatusByNet()
                         mDriveToNearestStationTask = data.data
@@ -959,10 +989,12 @@ object TaxiTaskModel {
                     }
 
                     override fun onFail(code: Int, msg: String) {
+                        DebugView.printErrorMsg("[开始接单] 请求fail, code=$code, msg=$msg")
                         mTaxiCarServiceCallback?.onCarStartServiceFailed(code, msg)
                     }
 
                     override fun onError() {
+                        DebugView.printErrorMsg("[开始接单] 请求error")
                         mTaxiCarServiceCallback?.onCarStartServiceError()
                     }
                 })
@@ -981,12 +1013,14 @@ object TaxiTaskModel {
     fun startAutoPilot() {
         if (!checkCurrentTaskCondition()) {
             e(TAG, "no order or order is empty.")
+            DebugView.printErrorMsg("[启自驾] 当前订单不存在或异常！")
             ToastUtils.showShort("当前订单不存在或异常！")
             return
         }
 
         if (mCurrentTaskTrajectory == null) {
             e(TAG, "no order or order is empty.")
+            DebugView.printErrorMsg("[启自驾] 轨迹信息不存在！")
             ToastUtils.showShort("轨迹信息不存在！")
         }
 
@@ -997,6 +1031,7 @@ object TaxiTaskModel {
             && TextUtils.isEmpty(mCurrentTaskTrajectory!!.csvFileUrlDPQP)
         ) {
             ToastUtils.showLong("无发布轨迹, 请发布后重试")
+            DebugView.printErrorMsg("[启自驾] 无发布轨迹, 请发布后重试")
             e(
                 TAG, "isPassStartAutopilotCommand = " +
                         FunctionBuildConfig.isPassStartAutopilotCommand
@@ -1014,6 +1049,7 @@ object TaxiTaskModel {
                 OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason +
                         ", 请稍候重试"
             )
+            DebugView.printErrorMsg("[启自驾] ${OCHAdasAbilityManager.getInstance().autopilotUnAbilityReason}")
             TaxiAnalyticsManager.getInstance().triggerUnableStartAPReasonEvent(
                 mCurrentTaskWithOrder!!.startSite!!.siteName,
                 mCurrentTaskWithOrder!!.endSite!!.siteName,
@@ -1032,6 +1068,7 @@ object TaxiTaskModel {
             return
         }
         CallerAutoPilotControlManager.startAutoPilot(parameters)
+        DebugView.printInfoMsg("[启自驾] 调用成功")
         d(
             TAG, "start autopilot with parameter: %s",
             GsonUtil.jsonFromObject(parameters)
@@ -1099,6 +1136,7 @@ object TaxiTaskModel {
     fun cancelAutopilot() {
         try {
             CallerAutoPilotControlManager.cancelAutoPilot()
+            DebugView.printInfoMsg("[取消自驾] 调用成功")
             d(TAG, "结束自动驾驶")
         } catch (e: Exception) {
             e.printStackTrace()
@@ -1141,11 +1179,25 @@ object TaxiTaskModel {
             //3、刚过站且过站距离在15m内， 提交到站
             if (stationAngle > 90) {
                 i(TAG, "judgeEndStation() = 刚过站且在15m内")
+                DebugView.printInfoMsg(
+                    "[高德定位围栏] 触发围栏，任务类型：${
+                        TaskTypeEnum.valueOf(
+                            mCurrentTaskWithOrder?.taskType ?: 0
+                        )?.name
+                    }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 刚过站且在15m内"
+                )
                 submitArriveSite(endSite.siteId, true)
-            }else{
+            } else {
                 // 4、 没有过站距离小于15m 速度小于0.5(根据M1来的模数 可能要调)
                 if (currentLocation.gnssSpeed < 0.5) {
                     i(TAG, "judgeEndStation() = 没有过站、速度基本为零且在15m内")
+                    DebugView.printInfoMsg(
+                        "[高德定位围栏] 触发围栏，任务类型：${
+                            TaskTypeEnum.valueOf(
+                                mCurrentTaskWithOrder?.taskType ?: 0
+                            )?.name
+                        }，围栏范围：${TaxiUnmannedConst.ARRIVE_AT_START_STATION_DISTANCE}米 没有过站、速度基本为零且在15m内"
+                    )
                     submitArriveSite(endSite.siteId, true)
                 }
             }
@@ -1209,6 +1261,7 @@ object TaxiTaskModel {
         )
         mCurrentTaskWithOrder = null
         mDriveToNearestStationTask = null
+        DebugView.printInfoMsg("[登出] 退出登陆")
     }
 
     //导航去订单终点目的地
@@ -1282,11 +1335,13 @@ object TaxiTaskModel {
             return
         }
         d(TAG, "AutopilotControlParameters is update.")
+        DebugView.printInfoMsg("[启自驾] updateAutopilotControlParameters调用成功")
         updateAutopilotControlParameters(parameters)
     }
 
     private fun clearAutopilotControlParameters() {
         d(TAG, "AutopilotControlParameters is clear.")
+        DebugView.printInfoMsg("[启自驾] clearAutopilotControlParameters调用成功")
         updateAutopilotControlParameters(null)
     }
 
@@ -1303,7 +1358,6 @@ object TaxiTaskModel {
             ToastUtils.showShort("无任务！")
             return
         }
-//        arriveSite(mCurrentTaskAndOrder?.endSite!!.siteId, true)
         autopilotArriveAtStation()
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
index 23c3446931..e5563f31e9 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/utils/TaxiTrajectoryManager.java
@@ -13,6 +13,7 @@ import com.mogo.och.taxi.bean.QueryCurrentTaskRespBean;
 import com.mogo.och.taxi.bean.TrajectoryListRespBean;
 import com.mogo.och.taxi.constant.TaskStatusEnum;
 import com.mogo.och.taxi.constant.TaxiUnmannedConst;
+import com.mogo.och.taxi.ui.debug.DebugView;
 import com.mogo.och.taxi.ui.task.TaxiTaskModel;
 
 import java.util.ArrayList;
@@ -163,7 +164,6 @@ public class TaxiTrajectoryManager {
             final List<TrajectoryListRespBean.Result> orderContrails = TaxiTaskModel.INSTANCE.getCurrentOrderTrajectoryList();
 
             if (orderDetail != null && orderContrails != null && orderContrails.size() != 0 ){
-
                 List<Long> lineIds = new ArrayList<>();
                 lineIds.addAll(Arrays.asList(orderDetail.getPlanningLines()));  // 接驾
                 lineIds.add(orderDetail.getOrderLine());//送驾
@@ -249,6 +249,7 @@ public class TaxiTrajectoryManager {
         if (mSendReqDisposable != null && !mSendReqDisposable.isDisposed()) {
             return;
         }
+        DebugView.Companion.printInfoMsg("[启自驾] startTrajectoryReqLoop");
         CallerLogger.d(M_TAXI + TAG, "startTrajReqLoop()");
         setupAutoPilotLine();
         mSendReqDisposable = Observable.interval(TaxiUnmannedConst.LOOP_DELAY,
@@ -268,6 +269,7 @@ public class TaxiTrajectoryManager {
     }
 
     private void stopTrajReqLoop() {
+        DebugView.Companion.printInfoMsg("[启自驾] stopTrajectoryReqLoop");
         if (mSendReqDisposable != null) {
             CallerLogger.d(M_TAXI + TAG, "stopTrajReqLoop()");
             mSendReqDisposable.dispose();
@@ -278,13 +280,15 @@ public class TaxiTrajectoryManager {
 
     private void sendTrajectoryReq() {
         if (mAutoPilotLine != null) {
+            DebugView.Companion.printInfoMsg("[启自驾] sendTrajectoryDownloadReq, lindId=" + mAutoPilotLine.getLineId() + ", lineName=" + mAutoPilotLine.getLineName());
             CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mAutoPilotLine,COMMON_LOADING);
         }else {
             CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mAutoPilotLine is null!!!");
         }
 
         if (mPreAutoPilotLine != null){
-            CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine,PRE_LOADING);
+            DebugView.Companion.printInfoMsg("[启自驾] sendTrajectoryDownloadReq, lindId=" + mPreAutoPilotLine.getLineId() + ", lineName=" + mPreAutoPilotLine.getLineName());
+            CallerAutoPilotControlManager.INSTANCE.sendTrajectoryDownloadReq(mPreAutoPilotLine, PRE_LOADING);
         }else {
             CallerLogger.e(M_TAXI + TAG, "sendTrajectoryReq(): mPreAutoPilotLine is null!!!");
 
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
index 77f9869277..3c08aea9e7 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
@@ -5,169 +5,192 @@
     android:layout_height="wrap_content"
     android:orientation="vertical">
 
-    <TextView
-        android:id="@+id/currentDataTimestamps"
+    <RelativeLayout
         android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
+        android:layout_height="wrap_content">
+
+        <LinearLayout
+            android:id="@+id/btnContainer"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentEnd="true"
+            android:gravity="right"
+            android:orientation="vertical">
+
+            <Button
+                android:id="@+id/test_bar_to_virtual"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock到达标定站点"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_start_service_confirm"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock开启服务"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_on_the_way_to_end"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock开启自动驾驶"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_to_end"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock到达站点"
+                android:textSize="@dimen/dp_24" />
+
+            <Button
+                android:id="@+id/test_bar_route"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock模拟轨迹"
+                android:textSize="12sp" />
+        </LinearLayout>
+
+        <LinearLayout
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_alignParentStart="true"
+            android:layout_toLeftOf="@id/btnContainer"
+            android:orientation="vertical">
+
+            <TextView
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginTop="@dimen/dp_10"
+                android:text="车辆当前任务&amp;订单信息"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentDataTimestamps"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentCarStatus"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentTaskType"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentStatus"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentLineId"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/taskStartSite"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/taskEndSite"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentOrder"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderNo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderStatus"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderStartSiteInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderEndSiteInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/orderPreLoadLines"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentOrderTrajectoryInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+
+            <TextView
+                android:id="@+id/currentOrderStopInfo"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:textColor="@android:color/white"
+                android:textSize="@dimen/dp_24" />
+        </LinearLayout>
+    </RelativeLayout>
 
     <TextView
-        android:id="@+id/currentCarStatus"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentTaskType"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentStatus"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentLineId"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/taskStartSite"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/taskEndSite"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentOrder"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderNo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderStatus"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderStartSiteInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderEndSiteInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/orderPreLoadLines"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentOrderTrajectoryInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <TextView
-        android:id="@+id/currentOrderStopInfo"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:textColor="@android:color/white"
-        android:textSize="@dimen/dp_24" />
-
-    <LinearLayout
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_10"
-        android:orientation="horizontal">
-
-        <Button
-            android:id="@+id/test_bar_to_virtual"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock到达标定站点"
-            android:textSize="@dimen/dp_24" />
-
-        <Button
-            android:id="@+id/test_bar_start_service_confirm"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock开启服务"
-            android:textSize="@dimen/dp_24" />
-
-        <Button
-            android:id="@+id/test_bar_on_the_way_to_end"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock开启自动驾驶"
-            android:textSize="@dimen/dp_24" />
-    </LinearLayout>
-
-    <LinearLayout
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_10"
-        android:orientation="horizontal">
-
-        <Button
-            android:id="@+id/test_bar_to_end"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock到达站点"
-            android:textSize="@dimen/dp_24" />
-
-        <Button
-            android:id="@+id/test_bar_route"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="Mock模拟轨迹"
-            android:textSize="12sp" />
-    </LinearLayout>
+        android:text="无人化运营流程关键节点日志（司机端）"
+        android:textColor="@android:color/white"
+        android:textSize="@dimen/dp_24" />
 
     <TextView
         android:id="@+id/debugLogHistoryTextView"
-        android:layout_width="wrap_content"
+        android:layout_width="match_parent"
         android:layout_height="wrap_content"
-        android:layout_marginTop="@dimen/dp_10"
         android:background="@drawable/taxi_debug_view_log_history_bg"
-        android:maxLines="10"
-        android:textColor="@android:color/white"
-        android:scrollbars="vertical"
         android:fadeScrollbars="false"
+        android:maxLines="15"
+        android:scrollbars="vertical"
+        android:textColor="@android:color/white"
         android:textSize="@dimen/dp_24" />
 </LinearLayout>
\ No newline at end of file
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml
index 702787973d..8805c5e8cd 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_panel.xml
@@ -17,7 +17,7 @@
 
     <com.mogo.och.taxi.ui.debug.DebugView
         android:id="@+id/orderDebugView"
-        android:layout_width="wrap_content"
+        android:layout_width="@dimen/taxi_debug_view_width"
         android:layout_height="wrap_content"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent" />
diff --git a/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml b/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml
index 089ad7c16f..fef0af945b 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/values/dimens.xml
@@ -119,4 +119,6 @@
     <dimen name="taxi_traffic_light_time_size">60dp</dimen>
 
     <dimen name="taxi_passenger_txt_size">34dp</dimen>
+
+    <dimen name="taxi_debug_view_width">1000dp</dimen>
 </resources>
\ No newline at end of file