diff --git a/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java b/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
index 5f386b5de0..3967989855 100644
--- a/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -466,10 +466,6 @@ public class BusPassengerModel {
             if (autopilotStatusInfo == null) return;
             int state = autopilotStatusInfo.getState();
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-                //2022.7.20 自动驾驶更换成带档位的
-                if(state != mPreAutoStatus && null != routesResult){
-                    CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
-                }
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                 if(state != mPreAutoStatus){
diff --git a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt
index 0e71a406f6..7a7f171110 100644
--- a/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt
+++ b/OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt
@@ -238,19 +238,6 @@ object CharterPassengerModel {
                     mAutoStatusChnageListener.forEach {
                         it.value.onAutoStatusChange(state)
                     }
-                    when (state) {
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
-                            RxUtils.createSubscribe {
-                                cleanRoutePoints()
-                                CallerLogger.d(M_BUS_P + TAG,"请求底盘轨迹")
-                                CallerAutoPilotControlManager.getGlobalPath()
-                            }
-                        }
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {}
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {}
-                        IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {}
-                        else -> {}
-                    }
                 }
             }
             override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {
diff --git a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
index f672347df6..8df2542c2d 100644
--- a/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
+++ b/OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt
@@ -305,9 +305,6 @@ class PM2DrivingModel private constructor() {
 
                 }else{//自驾状态 2
                     mAutoStatusCallback?.updateAutoStatus(true)
-                    if (routesResult != null){
-                        CallerAutoPilotControlManager.getGlobalPath()
-                    }
                 }
                 mCurrentAutoStatus = status
             }
@@ -502,10 +499,6 @@ class PM2DrivingModel private constructor() {
     }
 
     fun dynamicCalculateRouteInfo(){
-        //如果轨迹点为空发送一次获取轨迹指令
-        if (mRoutePoints.size == 0){
-            CallerAutoPilotControlManager.getGlobalPath()
-        }
         //计算当前位置和下一站的剩余点集合
         //计算剩余点总里程和时间
         d(SceneConstant.M_BUS_P + TAG, "och-rotting==mTwoStationsRouts.size() = " + mTwoStationsRouts.size)
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
index fafbe54a2a..daaf6b231c 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -531,8 +531,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                     // 当高频返回autopilot 2时，不重复调用订单状态变更
                     mPrevAPStatus = state; // 每个状态单独赋值，解决无订单时已经是2的状态导致的新订单来时无法进入此逻辑更新状态
                     startServicePilotDone();
-
-                    CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
                 }
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                 mPrevAPStatus = state;
diff --git a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
index 95cbb68a0b..5959d41875 100644
--- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
@@ -151,7 +151,13 @@ object ConfigStartUp {
                     HDTypes.GUARDBAR.type,
                     HDTypes.TRAFFIC_DEVICE.type,
                     HDTypes.CABLE.type,
-                    HDTypes.SIGNAL_LINE.type
+                    HDTypes.SIGNAL_LINE.type,
+                    HDTypes.building.type,
+                    HDTypes.streetLight.type,
+                    HDTypes.area.type,
+                    HDTypes.regional.type,
+                    HDTypes.geometricLinear.type,
+                    HDTypes.geometricSurface.type
                 )
             )
         // .setZoom( 20 )
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index ea44139ef5..5cf263bc7b 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -302,9 +302,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 autopilotStatusInfo.state = autopilotState.state
                 autopilotStatusInfo.pilotmode = autopilotState.autopilotMode
                 autopilotStatusInfo.reason = autopilotState.reason
-                autopilotStatusInfo.camera = autopilotState.camera
-                autopilotStatusInfo.rtk = autopilotState.rtk
-                autopilotStatusInfo.radar = autopilotState.radar
                 autopilotStatusInfo.version = AdasManager.getInstance().adasVersion
                 if (autopilotStatusInfo.connectIP == null) {
                     autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
index f6dae9d389..e982acba0f 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt
@@ -1,10 +1,24 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server
 
+import android.annotation.SuppressLint
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 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.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.zhidao.support.adas.high.AdasManager
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import io.reactivex.Observable
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.disposables.Disposable
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicInteger
 
 /**
  * @author xiaoyuzhou
@@ -14,7 +28,8 @@ import com.zhidao.support.adas.high.AdasManager
  * 异步同步数据给 Autopilot 控制器
  * 数据源（不限于）：OBU、网络等
  */
-class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener {
+class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener,
+    IMoGoAutopilotStatusListener {
     companion object {
         const val TAG = "AsyncDataToAutopilotServer"
         val INSTANCE: AsyncDataToAutopilotServer by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -22,10 +37,41 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         }
     }
 
+    private var mPreAutoStatus = AtomicInteger(-1)
+    private var createSubscribe: Disposable? = null
+
     fun initServer() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerTrafficLightListenerManager.addListener(TAG, this)
     }
 
+    @SuppressLint("CheckResult")
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        super.onAutopilotStatusResponse(autoPilotStatusInfo)
+        val state = autoPilotStatusInfo.state
+        if (mPreAutoStatus.get() != state) {
+            mPreAutoStatus.set(state)
+            createSubscribe?.let {
+                if (!it.isDisposed) {
+                    bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
+                    createSubscribe?.dispose()
+                }
+            }
+
+            when (state) {
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                    createSubscribe = Observable.timer(2000L, TimeUnit.MILLISECONDS)
+                        .observeOn(AndroidSchedulers.mainThread())
+                        .subscribe {
+                            bizLog(SceneConstant.M_ADAS_IMPL + TAG, "请求底盘轨迹")
+                            CallerAutoPilotControlManager.getGlobalPath()
+                        }
+                }
+                else -> {}
+            }
+        }
+    }
+
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
         var version = -1
         if (AdasManager.getInstance().carConfig != null) {
@@ -34,4 +80,16 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         if (version > -1 && version < 290)
             CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
+
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = ChainConstant.CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    private fun bizLog(tag: String, msg: String) {
+        CallerLogger.d(tag, msg)
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
index f01a19ef74..821a558cf1 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt
@@ -11,7 +11,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel.Companion.aiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
-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.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -51,7 +50,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener,
         MogoMapListenerHandler.mogoMapListenerHandler.registerHostMapListener(TAG, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerPlanningRottingListenerManager.addListener(TAG,this)
-        CallerAutoPilotControlManager.getGlobalPath()
         MogoAiCloudSocketManager.getInstance(mContext)
             .registerOnMessageListener(
                 0x040003, //低频数据
@@ -166,8 +164,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener,
         super.onAutopilotRouteLineId(lineId)
         if (lineId == 0L) {
             updateRomaStyle(true)
-        }else{
-            CallerAutoPilotControlManager.getGlobalPath()
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
index d1bccb8b3c..595ea91c96 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/MarkerDrawerManager.kt
@@ -86,12 +86,33 @@ object MarkerDrawerManager {
         }
     }
 
-    fun updateRoutePoints(routePoints: List<MessagePad.Location>?, context: Context) {
+    /**
+     * 存储全局轨迹用于轮询计算车已走过的轨迹index
+     */
+    fun updateGDRoutePoints(routePoints: List<LatLng>?) {
         if (routePoints == null || routePoints.isEmpty()) return
-        val latLngModels = coordinateConverterWgsToGcjListCommon(context, routePoints)
-        planningPoints.clear()
-        planningPoints.addAll(latLngModels)
-//        float remainingSumLength = calculateRemainingSumLength(mRoutePoints);
+        synchronized(this) {
+            planningPoints.clear()
+            planningPoints.addAll(routePoints)
+        }
+    }
+
+    fun resetStatus() {
+        synchronized(this) {
+            planningPoints.clear()
+        }
+        lastArrivedIndex = -1
+    }
+
+    /**
+     * 转为高德定位对象
+     */
+    fun change2GDPoints(routePoints: List<MessagePad.Location>?, context: Context): List<LatLng> {
+        return if (routePoints == null || routePoints.isEmpty()) {
+            emptyList()
+        } else {
+            coordinateConverterWgsToGcjListCommon(context, routePoints)
+        }
     }
 
     /**
@@ -111,11 +132,15 @@ object MarkerDrawerManager {
         if (routePoints.isNotEmpty()) {
             //基础点
             val baseLatLng = routePoints[0]
+            newPoints.add(baseLatLng)
             var baseDiffDis = CoordinateUtils.calculateLineDistance(
                 realLon, realLat, baseLatLng.longitude, baseLatLng.latitude
             ) // lon,lat, prelon, prelat
-            for (i in 1 until routePoints.size) {
+            val size = routePoints.size
+            for (i in 1 until size) {
                 val latLng = routePoints[i]
+                // 深拷贝数据用于高德地图上轨迹线的绘制
+                newPoints.add(LatLng(latLng.latitude, latLng.longitude))
                 val diff = CoordinateUtils.calculateLineDistance(
                     realLon, realLat, latLng.longitude, latLng.latitude
                 )
@@ -136,11 +161,12 @@ object MarkerDrawerManager {
             }
             Log.d("MarkerDrawerManager", "当次计算已走过的点的索引为：$currentIndex，存储的上次索引为：$lastArrivedIndex")
             if (currentIndex < lastArrivedIndex) {
-                currentIndex = lastArrivedIndex
+                if (lastArrivedIndex < size) {
+                    currentIndex = lastArrivedIndex
+                }
             } else {
                 lastArrivedIndex = currentIndex
             }
-            newPoints.addAll(routePoints)
             newPoints.add(currentIndex + 1, LatLng(realLat, realLon))
             return currentIndex + 1
         }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
index 0007077814..b96081473a 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt
@@ -17,7 +17,6 @@ import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -296,10 +295,10 @@ class SmallMapView @JvmOverloads constructor(
                     endLatLng.latitude, endLatLng.longitude,
                     currentLatLng.latitude, currentLatLng.longitude
                 )
-                CallerLogger.d(
-                    SceneConstant.M_MAP + TAG,
-                    "calculateDistance=$calculateDistance"
-                )
+//                CallerLogger.d(
+//                    SceneConstant.M_MAP + TAG,
+//                    "calculateDistance=$calculateDistance"
+//                )
                 if (calculateDistance <= 5) {
                     CallerLogger.d(
                         SceneConstant.M_MAP + TAG, "onChassisLocationGCJ02 ----->  calculateDistance <= 5 ")
@@ -325,8 +324,6 @@ class SmallMapView @JvmOverloads constructor(
             UiThreadHandler.post {
                 clearPolyline()
             }
-        } else if (tempStatus == 1 && autoPilotStatus == 0) {
-            getGlobalPath()
         }
         autoPilotStatus = tempStatus
     }
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
index 71c68c6d79..b2da8879df 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt
@@ -28,7 +28,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoV2XListener
 import com.mogo.eagle.core.function.api.biz.IFuncBizProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
@@ -38,21 +37,18 @@ import com.mogo.eagle.core.function.map.R
 import com.mogo.eagle.core.function.smp.MakerWithCount
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.callback
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.change2GDPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.coordinateConverterWgsToGcj
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lastArrivedIndex
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.lonLatHeading
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.planningPoints
 import com.mogo.eagle.core.function.smp.MarkerDrawerManager.startLoopCalCarLocation
-import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateRoutePoints
+import com.mogo.eagle.core.function.smp.MarkerDrawerManager.updateGDRoutePoints
 import com.mogo.eagle.core.function.smp.V2XMarkerView
 import com.mogo.eagle.core.utilcode.mogo.MapAssetStyleUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler
-import com.zhidaoauto.map.sdk.open.tools.ThreadPoolUtils
 import me.jessyan.autosize.utils.AutoSizeUtils
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.MogoV2X
-import java.util.concurrent.ExecutorService
 import java.util.concurrent.Executors
 import kotlin.math.pow
 
@@ -128,10 +124,16 @@ class OverMapView @JvmOverloads constructor(
     @Volatile
     private var isInit = false
 
+    @Volatile
+    private var isFirst = true
+
+    // 用来绘制轨迹线
     private val singlePool by lazy {
         Executors.newSingleThreadExecutor()
     }
 
+    private var allPoints: List<LatLng>? = null
+
     companion object {
         const val TAG = "OverMapView"
     }
@@ -335,8 +337,9 @@ class OverMapView @JvmOverloads constructor(
         mStartMarker?.isVisible = false
         mEndMarker?.isVisible = false
         MarkerDrawerManager.stopLoopCalCarLocation()
-        planningPoints.clear()
-        lastArrivedIndex = -1
+        ThreadUtils.getIoPool().execute {
+            MarkerDrawerManager.resetStatus()
+        }
         isInit = false
     }
 
@@ -414,8 +417,6 @@ class OverMapView @JvmOverloads constructor(
             }
         })
         CallerV2XListenerManager.addListener(TAG, this)
-        // 主动查一次全局路径规划的数据
-        getGlobalPath()
     }
 
     private fun setUpMap() {
@@ -473,37 +474,50 @@ class OverMapView @JvmOverloads constructor(
             Log.d(TAG, "全局路径规划轨迹为空")
             return
         }
+        Log.d(TAG, "全局路径规划轨迹下发")
+        isFirst = true
+        MarkerDrawerManager.resetStatus()
         val list: List<MessagePad.Location> = locationList
-        // 转成高德坐标系并存储
-        updateRoutePoints(list, mContext!!)
-        val planningPointList: List<LatLng> = planningPoints
-        UiThreadHandler.post ({
-            displayCustomOverView()
-            drawStartAndEndMarker(planningPointList)
-        }, UiThreadHandler.MODE.QUEUE)
-        if (!isInit) {
-            callback = object : MarkerDrawerManager.Callback {
-                override fun onLocationChanged(planningPoints: List<LatLng>, locIndex: Int) {
-                    // 每1s刷新一下轨迹线
-                    UiThreadHandler.post ({
-                        if (planningPoints.isNotEmpty()) {
-                            drawPolyline(planningPoints, locIndex)
+        // 转成高德定位对象并存储
+        val planningPointList = change2GDPoints(list, mContext!!)
+        updateGDRoutePoints(planningPointList)
+        synchronized(this::class.java) {
+            if (!isInit) {
+                var timeStamp = 0L
+                callback = object : MarkerDrawerManager.Callback {
+                    override fun onLocationChanged(points: List<LatLng>, locIndex: Int) {
+                        if (points.isNotEmpty()) {
+                            // 每1s刷新一下轨迹线
+                            singlePool.execute {
+                                if (isFirst) {
+                                    Log.d(TAG, "第一次!")
+                                    isFirst = false
+                                    allPoints = points
+                                    displayCustomOverView()
+                                    drawStartAndEndMarker(points)
+                                }
+                                timeStamp = System.currentTimeMillis()
+                                drawPolyline(points, locIndex)
+                                Log.d(TAG, "绘制轨迹线的时间为：${System.currentTimeMillis() - timeStamp}ms")
+                            }
                         }
-                    }, UiThreadHandler.MODE.QUEUE)
+                    }
                 }
+                startLoopCalCarLocation()
+                isInit = true
             }
-            startLoopCalCarLocation()
-            isInit = true
         }
-        UiThreadHandler.post({
-            if (geoHashInfMap.isNullOrEmpty()) {
-                UiThreadHandler.postDelayed({
+        if (geoHashInfMap.isNullOrEmpty()) {
+            UiThreadHandler.postDelayed({
+                singlePool.execute {
                     drawInfrastructureMarkers(locationList)
-                }, 1000, UiThreadHandler.MODE.QUEUE)
-            } else {
+                }
+            }, 1000, UiThreadHandler.MODE.QUEUE)
+        } else {
+            singlePool.execute {
                 drawInfrastructureMarkers(locationList)
             }
-        }, UiThreadHandler.MODE.QUEUE)
+        }
     }
 
     /**
@@ -665,33 +679,35 @@ class OverMapView @JvmOverloads constructor(
      * 进入自定义全览模式
      */
     fun displayCustomOverView() {
-        val linePointsLatLng = planningPoints
-        if (linePointsLatLng.size > 1 && mLocation != null) {
-            //圈定地图显示范围
-            //存放经纬度
-            val boundsBuilder = LatLngBounds.Builder()
-            for (i in linePointsLatLng.indices) {
-                boundsBuilder.include(linePointsLatLng[i])
-            }
-            val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
-            boundsBuilder.include(currentLatLng)
-            val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
-            //第二个参数为四周留空宽度
-            mAMap!!.moveCamera(
-                CameraUpdateFactory.newLatLngBoundsRect(
-                    boundsBuilder.build(),
-                    AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, topPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+        singlePool.execute {
+            val linePointsLatLng = allPoints
+            if (linePointsLatLng != null && linePointsLatLng.size > 1 && mLocation != null) {
+                //圈定地图显示范围
+                //存放经纬度
+                val boundsBuilder = LatLngBounds.Builder()
+                for (i in linePointsLatLng.indices) {
+                    boundsBuilder.include(linePointsLatLng[i])
+                }
+                val currentLatLng = LatLng(mLocation!!.latitude, mLocation!!.longitude)
+                boundsBuilder.include(currentLatLng)
+                val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
+                //第二个参数为四周留空宽度
+                mAMap!!.moveCamera(
+                    CameraUpdateFactory.newLatLngBoundsRect(
+                        boundsBuilder.build(),
+                        AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
+                        AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
+                        AutoSizeUtils.dp2px(context, topPadding.toFloat()),
+                        AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+                    )
                 )
-            )
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
-        } else {
-            //设置希望展示的地图缩放级别
-            val cameraPosition = CameraPosition.Builder()
-                .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+                mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+            } else {
+                //设置希望展示的地图缩放级别
+                val cameraPosition = CameraPosition.Builder()
+                    .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
+                mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+            }
         }
     }
 
@@ -721,6 +737,7 @@ class OverMapView @JvmOverloads constructor(
         mStartMarker?.isVisible = false
         mEndMarker?.isVisible = false
         if (coordinates.size > 2) {
+            Log.d(TAG, "绘制起终点")
             // 设置开始结束Marker位置
             val startLatLng = coordinates[0]
             val endLatLng = coordinates[coordinates.size - 1]
@@ -728,6 +745,8 @@ class OverMapView @JvmOverloads constructor(
             mEndMarker?.position = endLatLng
             mStartMarker?.isVisible = true
             mEndMarker?.isVisible = true
+        } else {
+            Log.d(TAG, "不绘制起终点")
         }
     }
 
@@ -737,8 +756,7 @@ class OverMapView @JvmOverloads constructor(
      * @param coordinates
      * @param locIndex
      */
-    @MainThread
-    fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
+    private fun drawPolyline(coordinates: List<LatLng>, locIndex: Int) {
         if (textureList.size > 0) {
             textureList.clear()
         }
@@ -822,49 +840,51 @@ class OverMapView @JvmOverloads constructor(
      * 站点轨迹集合被包含在地图显示范围内
      */
     fun includeSitePointsAndUpdateCamera(coordinates: List<LatLng>?) {
-        val linePointsLatLng = planningPoints
-        val boundsBuilder = LatLngBounds.Builder()
-        var isOnlyCarLocation = true
+        singlePool.execute {
+            val linePointsLatLng = allPoints
+            val boundsBuilder = LatLngBounds.Builder()
+            var isOnlyCarLocation = true
 
-        if (linePointsLatLng.size > 1) {
-            // 圈定地图显示范围(自动驾驶轨迹)
-            for (i in linePointsLatLng.indices) {
-                boundsBuilder.include(linePointsLatLng[i])
+            if (linePointsLatLng != null && linePointsLatLng.size > 1) {
+                // 圈定地图显示范围(自动驾驶轨迹)
+                for (i in linePointsLatLng.indices) {
+                    boundsBuilder.include(linePointsLatLng[i])
+                }
+                isOnlyCarLocation = false
             }
-            isOnlyCarLocation = false
-        }
 
-        if (mLocation != null) {
-            // 自车坐标
-            boundsBuilder.include(LatLng(mLocation!!.latitude, mLocation!!.longitude))
-        }
-
-        coordinates?.let {
-            // 站点轨迹被包含在地图显示范围内
-            for (i in it.indices) {
-                boundsBuilder.include(it[i])
+            if (mLocation != null) {
+                // 自车坐标
+                boundsBuilder.include(LatLng(mLocation!!.latitude, mLocation!!.longitude))
             }
-            isOnlyCarLocation = false
-        }
 
-        if (!isOnlyCarLocation) {
-            val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
-            //第二个参数为四周留空宽度
-            mAMap!!.moveCamera(
-                CameraUpdateFactory.newLatLngBoundsRect(
-                    boundsBuilder.build(),
-                    AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, topPadding.toFloat()),
-                    AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+            coordinates?.let {
+                // 站点轨迹被包含在地图显示范围内
+                for (i in it.indices) {
+                    boundsBuilder.include(it[i])
+                }
+                isOnlyCarLocation = false
+            }
+
+            if (!isOnlyCarLocation) {
+                val cameraPosition = CameraPosition.Builder().tilt(mTilt).build()
+                //第二个参数为四周留空宽度
+                mAMap!!.moveCamera(
+                    CameraUpdateFactory.newLatLngBoundsRect(
+                        boundsBuilder.build(),
+                        AutoSizeUtils.dp2px(context, leftPadding.toFloat()),
+                        AutoSizeUtils.dp2px(context, rightPadding.toFloat()),
+                        AutoSizeUtils.dp2px(context, topPadding.toFloat()),
+                        AutoSizeUtils.dp2px(context, bottomPadding.toFloat())
+                    )
                 )
-            )
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
-        } else {
-            //设置希望展示的地图缩放级别
-            val cameraPosition = CameraPosition.Builder()
-                .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
-            mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+                mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+            } else {
+                //设置希望展示的地图缩放级别
+                val cameraPosition = CameraPosition.Builder()
+                    .target(mCarMarker!!.position).tilt(mTilt).zoom(zoomLevel.toFloat()).build()
+                mAMap!!.moveCamera(CameraUpdateFactory.newCameraPosition(cameraPosition))
+            }
         }
     }
 
@@ -888,7 +908,7 @@ class OverMapView @JvmOverloads constructor(
      */
     override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
         globalPathResp?.let {
-            singlePool.execute {
+            ThreadUtils.getIoPool().execute {
                 handlePlanningData(it.wayPointsList)
             }
         }
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
index 3f9c1900e3..2dd8130231 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt
@@ -56,21 +56,6 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
      */
     var reason: String? = null
 
-    /**
-     * 摄像头状态 1代表开启，0代表关闭
-     */
-    var camera = 0
-
-    /**
-     * 雷达状态 1代表开启，0代表关闭
-     */
-    var radar = 0
-
-    /**
-     * RTK状态 1代表开启，0代表关闭
-     */
-    var rtk = 0
-
     /**
      * 底盘的自动驾驶状态 0非自动驾驶，1自动驾驶
      */
@@ -89,8 +74,8 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
         return "connectIP=$connectIP, connectPort=$connectPort, " +
                 "connectStatus=$connectStatus, connectDescribe=$connectStatusDescribe, version=$version, dockVersion=$dockVersion," +
                 " locationStatus=$locationStatus), locationLat=$locationLat, locationLon=$locationLon," +
-                " satelliteTime=$satelliteTime, state=$state, reason=$reason, camera=$camera," +
-                " radar=$radar, rtk=$rtk, pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters"
+                " satelliteTime=$satelliteTime, state=$state, reason=$reason, " +
+                " pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters"
     }
 
     public override fun clone(): AutopilotStatusInfo {
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
index ef0752e799..dff8f76de8 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt
@@ -60,7 +60,7 @@ class ChainConstant {
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS"
         const val CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP = "CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP"
-        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN = "PAD_ADAS_MESSAGE_AUTOPILOT_WARN"
+        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ"
 
         const val CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK = "CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK"
         const val CHAIN_ALIAS_CODE_RECORD_ANR = "CHAIN_ALIAS_CODE_RECORD_ANR"
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
index 87d4452fb7..d13d406c6e 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt
@@ -13,7 +13,7 @@ import system_master.*
 interface IMoGoAutopilotStatusListener {
 
     /**
-     * 自动驾驶状态信息
+     * 自动驾驶状态信息 TODO 接口优化，拆分业务属性字段
      *
      * @param autoPilotStatusInfo 状态信息
      */
diff --git a/libraries/mogo-adas-data/src/main/proto/message_pad.proto b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
index c72d33a01e..6916e70154 100644
--- a/libraries/mogo-adas-data/src/main/proto/message_pad.proto
+++ b/libraries/mogo-adas-data/src/main/proto/message_pad.proto
@@ -366,7 +366,8 @@ message GlobalPathReq
 // message definition for MsgTypeGlobalPathResp
 message GlobalPathResp
 {
-    repeated Location wayPoints = 1; 
+    repeated Location wayPoints = 1;
+    uint64 lineId = 2; //路线id
 }
 
 // message definition for MsgTypeTrafficLightData
diff --git a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
index 5869bbe990..d634ede987 100644
--- a/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
+++ b/libraries/mogo-map/src/main/java/com/mogo/map/AMapViewWrapper.java
@@ -121,10 +121,6 @@ public class AMapViewWrapper implements IMogoMapView,
     private EnumMapUI mCurrentUI = EnumMapUI.MAP_STYLE_NIGHT_VR;
     private VisualAngleMode mVisualAngleMode = MODE_MEDIUM_SIGHT;
 
-    private boolean mMapLoaded = false;
-    private boolean mIsFirstLocated = true;
-    private boolean mIsDelayed = false;
-
     private IHdCacheListener hdCacheListener;
 
     public AMapViewWrapper(MapAutoView mMapView) {
@@ -174,6 +170,7 @@ public class AMapViewWrapper implements IMogoMapView,
                 //设置手势是否可以缩放 isCanZoom true 可缩放 false 不可缩放
                 options.setZoomGesturesEnabled(true);
                 options.setScaleVRMode(true);
+                options.setWeatherEnable(false);
 //            options.setAllGesturesEnabled(false); //禁止全部手势
                 if (options.getMyLocationStyle() != null) {
                     options.getMyLocationStyle().setDisplayAnimEnable(true);
@@ -757,7 +754,6 @@ public class AMapViewWrapper implements IMogoMapView,
     @Override
     public void onMapLoaded() {
         CallerLogger.INSTANCE.i(M_MAP + TAG, "autoop--onMapLoaded: ");
-        mMapLoaded = true;
         if (checkAMapView()) {
             CameraPosition cameraPosition = mMapView.getMapAutoViewHelper().getCameraPosition();
             Trace.beginSection("timer.onCameraChangeFinish");