diff --git a/OCH/mogo-och-shuttle-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java b/OCH/mogo-och-shuttle-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
index b32f39aa8e..87f0874556 100644
--- a/OCH/mogo-och-shuttle-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
+++ b/OCH/mogo-och-shuttle-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java
@@ -66,6 +66,7 @@ import com.mogo.och.bus.passenger.network.BusPassengerServiceManager;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.manager.AbnormalFactorsLoopManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
+import com.mogo.och.common.module.utils.RxUtils;
 import com.mogo.och.data.bean.BusRoutesResult;
 import com.mogo.och.data.bean.BusStationBean;
 import com.mogo.och.data.bean.BusTransferData;
@@ -77,6 +78,7 @@ import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 
+import io.reactivex.disposables.Disposable;
 import mogo.telematics.pad.MessagePad;
 import mogo_msg.MogoReportMsg;
 import system_master.SystemStatusInfo;
@@ -87,8 +89,9 @@ import system_master.SystemStatusInfo;
 public class BusPassengerModel {
     private static final String TAG = BusPassengerModel.class.getSimpleName();
 
-    private List<MogoLocation> mRoutePoints = new ArrayList<>();
-
+    private volatile List<MogoLocation> mRoutePoints = new ArrayList<>();
+    // 1s内只接受一次轨迹
+    private volatile Disposable globalPathTruncation;
     private static final class SingletonHolder {
         private static final BusPassengerModel INSTANCE = new BusPassengerModel();
     }
@@ -527,10 +530,21 @@ public class BusPassengerModel {
     private final IMoGoPlanningRottingListener moGoAutopilotPlanningListener = new IMoGoPlanningRottingListener(){
 
         @Override
-        public void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) {
+        public synchronized void onAutopilotRotting(@Nullable MessagePad.GlobalPathResp routeList) {
             CallerLogger.INSTANCE.d(M_BUS_P + TAG, "onAutopilotRotting = "
                     + GsonUtil.jsonFromObject(routeList));
             List<MessagePad.Location> routePoints = routeList.getWayPointsList();
+
+            if(globalPathTruncation!=null&&!globalPathTruncation.isDisposed()){
+                CallerLogger.INSTANCE.d(M_BUS_P + TAG, "1s内不可以接受轨迹");
+                return;
+            }
+
+            globalPathTruncation = RxUtils.INSTANCE.createSubscribe(1_000, () -> {
+                CallerLogger.INSTANCE.d(M_BUS_P + TAG, "可以接受轨迹");
+                return null;
+            });
+            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "接受轨迹中");
             if (null != routePoints && routePoints.size() > 0){
                 updateRoutePoints(routePoints);
                 startToRouteAndWipe();
@@ -538,7 +552,7 @@ public class BusPassengerModel {
         }
     };
 
-    public void updateRoutePoints(List<MessagePad.Location> routePoints){
+    public synchronized void updateRoutePoints(List<MessagePad.Location> routePoints){
         mRoutePoints.clear();
         List<MogoLocation> latLngModels = CoordinateCalculateRouteUtil
                 .coordinateConverterWgsToGcjLocations(mContext,routePoints);
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 8df2542c2d..214f37bbf2 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
@@ -19,7 +19,6 @@ 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.api.telematic.IReceivedMsgListener
-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.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -47,9 +46,11 @@ import com.mogo.och.common.module.biz.constant.OchCommonConst
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil
 import com.mogo.och.common.module.utils.DateTimeUtil
+import com.mogo.och.common.module.utils.RxUtils
 import com.mogo.och.data.bean.BusRoutesResult
 import com.mogo.och.data.bean.BusStationBean
 import com.mogo.och.data.bean.BusTransferData
+import io.reactivex.disposables.Disposable
 import mogo.telematics.pad.MessagePad
 import kotlin.math.abs
 
@@ -80,6 +81,9 @@ class PM2DrivingModel private constructor() {
 
     private var operationStatus: PM2OperationStatusResponse.Result? = null
 
+    @Volatile
+    private var globalPathTruncation: Disposable? = null
+
     private val handler = Handler(Handler.Callback { msg ->
         if (msg.what == MSG_QUERY_BUS_P_STATION) {
             queryDriverOperationStatus()
@@ -251,16 +255,29 @@ class PM2DrivingModel private constructor() {
         }
 
     private val moGoAutopilotPlanningListener = object : IMoGoPlanningRottingListener{
+
+        @Synchronized
         override fun onAutopilotRotting(globalPathResp: MessagePad.GlobalPathResp?) {
             d(SceneConstant.M_BUS_P + TAG, "och-rotting==globalPathResp = " + GsonUtils.toJson(globalPathResp))
             globalPathResp?.let {
                 d(SceneConstant.M_BUS_P + TAG, "och-rotting==wayPointsSize = " + it.wayPointsList.size)
+
+                if (globalPathTruncation != null && !globalPathTruncation!!.isDisposed) {
+                    d(SceneConstant.M_BUS_P + TAG, "1s内不可以接受轨迹")
+                    return@let
+                }
+
+                globalPathTruncation = RxUtils.createSubscribe(1_000) {
+                    d(SceneConstant.M_BUS_P + TAG, "可以接受轨迹")
+                }
+                d(SceneConstant.M_BUS_P + TAG, "接受轨迹中")
                 updateRoutePoints(it.wayPointsList)
             }
         }
 
     }
 
+    @Synchronized
     fun updateRoutePoints(routePoints: List<MessagePad.Location>?) {
         mRoutePoints.clear()
         val latLngModels = CoordinateCalculateRouteUtil