diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index e0775f569f..24743f06cd 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -142,11 +142,11 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
+                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
                     } else {
diff --git a/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt b/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt
index 96bc9a4150..67a69707df 100644
--- a/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt
+++ b/OCH/mogo-och-charter/src/main/java/com/magic/mogo/och/charter/base/CharterBaseFragment.kt
@@ -109,13 +109,13 @@ abstract class CharterBaseFragment<V : IView?, P : Presenter<V>?>() :
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.currentMapVisualAngle.isLongSight) {
-                        Objects.requireNonNull(getMapUIController())
-                            ?.setLockMode(true)
+                        //Objects.requireNonNull(getMapUIController())
+                        //    ?.setLockMode(true)
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null)
                         mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_medium)
                     } else if (controller.currentMapVisualAngle.isMediumSight) {
-                        Objects.requireNonNull(getMapUIController())
-                                ?.setLockMode(false)
+                        //Objects.requireNonNull(getMapUIController())
+                        //        ?.setLockMode(false)
                             controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null)
                         mSwitchMapModeImage!!.setImageResource(R.drawable.bus_switch_map_long)
                     } else {
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/DistanceDegree.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/DistanceDegree.kt
index 205510c9da..bc30038358 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/DistanceDegree.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/distancemamager/DistanceDegree.kt
@@ -1,13 +1,54 @@
 package com.mogo.och.common.module.manager.distancemamager
 
-data class DistanceDegree(var distance:Float,var degree:Double?,var isNext:Boolean?):Comparable<DistanceDegree>{
+data class DistanceDegree(var distance: Float, var degree: Double?, var isNext: Boolean?) :
+    Comparable<DistanceDegree> {
     override fun compareTo(other: DistanceDegree): Int {
         // 对比距离
-        if(distance == other.distance){
+        if (distance == other.distance) {
             return 0;
-        } else if(distance < other.distance){
+        } else if (distance < other.distance) {
             return -1;
         }
         return 1;
     }
+
+    var next: DistanceDegree? = null
+
+    fun recycle() {
+        synchronized(sPoolSync) {
+            if (sPoolSize < MAX_POOL_SIZE) {
+                next = sPool
+                sPool = this
+                sPoolSize++
+            }
+            //Logger.d("DistanceDegree","缓存对象个数${sPoolSize}个")
+        }
+    }
+
+    companion object {
+        var sPoolSync = Any()
+        private var sPool: DistanceDegree? = null
+        private var sPoolSize = 0
+        private var MAX_POOL_SIZE = 20
+
+
+        fun obtain(distance: Float, degree: Double?, isNext: Boolean?): DistanceDegree {
+            synchronized(sPoolSync) {
+                if (sPool != null) {
+                    val m: DistanceDegree = sPool!!
+                    sPool = m.next
+                    m.next = null
+                    m.distance = distance
+                    m.degree = degree
+                    m.isNext = isNext
+                    sPoolSize--
+                    //Logger.d("DistanceDegree","取出一个对象个数${sPoolSize}个")
+                    return m
+                }
+                //Logger.d("DistanceDegree","创建一个对象 ${sPoolSize}个")
+                return DistanceDegree(distance, degree, isNext)
+            }
+        }
+    }
+
 }
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.kt
index 79444f76f5..164681283a 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.kt
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/utils/CoordinateCalculateRouteUtil.kt
@@ -601,6 +601,7 @@ object CoordinateCalculateRouteUtil {
         type:Int,
         size:Int = 4
     ): Triple<Int,Boolean?,Float> {
+        val startTime = System.currentTimeMillis()
         Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
             "参数：[$preIndex $endIndex) mRoutePoints:${mRoutePoints.size} type:$type size:$size" +
                     " location:(${location.latitude},${location.longitude},${location.heading})")
@@ -615,9 +616,9 @@ object CoordinateCalculateRouteUtil {
                 latLngIndex.longitude,
                 latLngIndex.latitude
             )
-            distanceMap[DistanceDegree(distance, null,null)] = index
+            distanceMap[DistanceDegree.obtain(distance, null,null)] = index
             if (distanceMap.size > size) {
-                distanceMap.pollLastEntry()
+                distanceMap.pollLastEntry()?.key?.recycle()
             }
         }
         distanceMap.forEach {
@@ -687,6 +688,12 @@ object CoordinateCalculateRouteUtil {
                         // 通过航向角过滤一遍
                         if(distanceDegree.degree!=null&&DrivingDirectionUtils.getAngleDiff(location.heading, distanceDegree.degree!!)<90){
                             currentIndex = pointIndex
+                            val iterator1 = distanceMap.iterator()
+                            while (iterator1.hasNext()) {
+                                iterator1.next().key.recycle()
+                                iterator1.remove()
+                            }
+                            distanceMap.clear()
                             return Triple(currentIndex,distanceDegree.isNext,distanceDegree.distance)
                         }
                     }
@@ -701,12 +708,14 @@ object CoordinateCalculateRouteUtil {
             val next = iterator.next()
             val key = next.key
             if (key.degree == null) {
+                key.recycle()
                 iterator.remove()
             } else {
                 if (location.heading != 0.0) {
                     key.degree?.let {
                         val dexAngle = DrivingDirectionUtils.getAngleDiff(location.heading, it)
                         if (dexAngle > 90) {
+                            key.recycle()
                             iterator.remove()
                         }
                     }
@@ -715,6 +724,14 @@ object CoordinateCalculateRouteUtil {
         }
 
         if(distanceMap.size==0&&size<16){
+            val iterator1 = distanceMap.iterator()
+            while (iterator1.hasNext()) {
+                iterator1.next().key.recycle()
+                iterator1.remove()
+            }
+            distanceMap.clear()
+            Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
+                "计算时间:${startTime-System.currentTimeMillis()}")
             return getNearestPointInfo(preIndex,endIndex,mRoutePoints,location,type,size+2)
         }
 
@@ -734,9 +751,25 @@ object CoordinateCalculateRouteUtil {
             if(preIndexDistance!=null&&preIndexNextDistance!=null){
                 if(preIndexDistance!!.distance<preIndexNextDistance!!.distance){
                     currentIndex = preIndex
+                    val iterator1 = distanceMap.iterator()
+                    while (iterator1.hasNext()) {
+                        iterator1.next().key.recycle()
+                        iterator1.remove()
+                    }
+                    distanceMap.clear()
+                    Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
+                        "计算时间:${startTime-System.currentTimeMillis()}")
                     return Triple(currentIndex,preIndexDistance?.isNext,preIndexDistance!!.distance)
                 }else{
                     currentIndex = preIndex+1
+                    val iterator1 = distanceMap.iterator()
+                    while (iterator1.hasNext()) {
+                        iterator1.next().key.recycle()
+                        iterator1.remove()
+                    }
+                    distanceMap.clear()
+                    Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
+                        "计算时间:${startTime-System.currentTimeMillis()}")
                     return  Triple(currentIndex,preIndexNextDistance?.isNext,preIndexNextDistance!!.distance)
                 }
             }
@@ -763,6 +796,7 @@ object CoordinateCalculateRouteUtil {
                     val next = iteratorRemove.next()
                     val key = next.key
                     if(next.value>middleVale){
+                        key.recycle()
                         iteratorRemove.remove()
                     }
                 }
@@ -773,6 +807,7 @@ object CoordinateCalculateRouteUtil {
                     val next = iteratorRemove.next()
                     val key = next.key
                     if(next.value<middleVale){
+                        key.recycle()
                         iteratorRemove.remove()
                     }
                 }
@@ -789,6 +824,14 @@ object CoordinateCalculateRouteUtil {
             // 排除没有第一个值0是
             if(value==preIndex+1&&preIndex!=0){
                 currentIndex = value
+                val iterator1 = distanceMap.iterator()
+                while (iterator1.hasNext()) {
+                    iterator1.next().key.recycle()
+                    iterator1.remove()
+                }
+                distanceMap.clear()
+                Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
+                    "计算时间:${startTime-System.currentTimeMillis()}")
                 return Triple(currentIndex,key.isNext,key.distance)
             }
             key.distance.let {
@@ -799,7 +842,14 @@ object CoordinateCalculateRouteUtil {
                 }
             }
         }
-
+        val iterator1 = distanceMap.iterator()
+        while (iterator1.hasNext()) {
+            iterator1.next().key.recycle()
+            iterator1.remove()
+        }
+        distanceMap.clear()
+        Logger.d(SceneConstant.M_OCHCOMMON + "calculateRouteSumLength",
+            "计算时间:${startTime-System.currentTimeMillis()}")
         return Triple(currentIndex,isNext,tempDistance)
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index 7eed7e8efd..18621b427a 100644
--- a/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-shuttle/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -145,11 +145,11 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
+                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
                         mSwitchMapModeImage.setImageResource(R.drawable.bus_switch_map_long);
                     } else {
diff --git a/OCH/taxi/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml b/OCH/taxi/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
index 8390992694..5969d33c65 100644
--- a/OCH/taxi/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
+++ b/OCH/taxi/mogo-och-taxi-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
@@ -155,12 +155,20 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"/>
 
+    <androidx.constraintlayout.widget.Guideline
+        android:id="@+id/gl_horizontal_center"
+        android:orientation="horizontal"
+        app:layout_constraintGuide_percent="0.5"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
+
     <androidx.appcompat.widget.AppCompatTextView
         android:id="@+id/actv_front_right_door"
         android:gravity="center"
         android:visibility="gone"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/gl_horizontal_center"
+        app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal_center"
         app:layout_constraintStart_toStartOf="@+id/gl_vertical_center"
         android:layout_marginStart="@dimen/dp_106"
         android:text="右前车门未关"
@@ -174,8 +182,8 @@
         android:id="@+id/actv_front_left_door"
         android:gravity="center"
         android:visibility="gone"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/gl_horizontal_center"
+        app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal_center"
         app:layout_constraintEnd_toStartOf="@+id/gl_vertical_center"
         android:layout_marginEnd="@dimen/dp_106"
         android:text="左前车门未关"
@@ -191,9 +199,9 @@
         android:gravity="center"
         android:visibility="gone"
         app:layout_constraintEnd_toStartOf="@+id/gl_vertical_center"
-        app:layout_constraintTop_toBottomOf="@+id/actv_front_left_door"
+        app:layout_constraintTop_toBottomOf="@+id/gl_horizontal_center"
         android:layout_marginEnd="@dimen/dp_135"
-        android:layout_marginTop="@dimen/dp_87"
+        android:layout_marginTop="@dimen/dp_142"
         android:text="左后车门未关"
         android:textSize="@dimen/dp_35"
         android:textColor="@color/taxi_p_2B364B"
@@ -206,9 +214,9 @@
         android:gravity="center"
         android:visibility="gone"
         app:layout_constraintStart_toEndOf="@+id/gl_vertical_center"
-        app:layout_constraintTop_toBottomOf="@+id/actv_front_left_door"
+        app:layout_constraintTop_toBottomOf="@+id/gl_horizontal_center"
         android:layout_marginStart="@dimen/dp_135"
-        android:layout_marginTop="@dimen/dp_87"
+        android:layout_marginTop="@dimen/dp_142"
         android:text="右后车门未关"
         android:textSize="@dimen/dp_35"
         android:textColor="@color/taxi_p_2B364B"
diff --git a/OCH/taxi/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/taxi/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 01fc54c810..f74667d853 100644
--- a/OCH/taxi/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/taxi/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -193,11 +193,11 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
                 if (controller != null) {
                     //切换地图的远近视图
                     if (controller.getCurrentMapVisualAngle().isLongSight()) {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
+                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(true);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_MEDIUM_SIGHT, null);
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_medium);
                     } else if (controller.getCurrentMapVisualAngle().isMediumSight()) {
-                        Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
+                        //Objects.requireNonNull(CallerMapUIServiceManager.INSTANCE.getMapUIController()).setLockMode(false);
                         controller.changeMapVisualAngle(VisualAngleMode.MODE_LONG_SIGHT, null);
                         mSwitchBtnIcon.setImageResource(R.drawable.taxi_switch_map_long);
                     } else {
diff --git a/OCH/taxi/taxi-unmanned-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml b/OCH/taxi/taxi-unmanned-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
index 8390992694..e113fef32b 100644
--- a/OCH/taxi/taxi-unmanned-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
+++ b/OCH/taxi/taxi-unmanned-passenger/src/main/res/layout/taxi_p_start_autopilot_view.xml
@@ -54,7 +54,7 @@
         app:layout_constraintLeft_toLeftOf="@+id/taxi_p_autopilot_btn_bg"
         app:layout_constraintRight_toRightOf="@+id/taxi_p_autopilot_btn_bg" />
 
-    
+
     <View
         app:layout_constraintBottom_toBottomOf="parent"
         android:background="@drawable/taxi_p_start_autopilot_bottom_bg"
@@ -73,7 +73,7 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"/>
 
-    
+
     <View
         android:id="@+id/v_xiaozhi_belt_info_bg"
         app:layout_constraintBottom_toTopOf="@+id/iv_xiaozhi_belt"
@@ -155,12 +155,20 @@
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"/>
 
+    <androidx.constraintlayout.widget.Guideline
+        android:id="@+id/gl_horizontal_center"
+        android:orientation="horizontal"
+        app:layout_constraintGuide_percent="0.5"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"/>
+
+
     <androidx.appcompat.widget.AppCompatTextView
         android:id="@+id/actv_front_right_door"
         android:gravity="center"
         android:visibility="gone"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/gl_horizontal_center"
+        app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal_center"
         app:layout_constraintStart_toStartOf="@+id/gl_vertical_center"
         android:layout_marginStart="@dimen/dp_106"
         android:text="右前车门未关"
@@ -174,8 +182,8 @@
         android:id="@+id/actv_front_left_door"
         android:gravity="center"
         android:visibility="gone"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="@+id/gl_horizontal_center"
+        app:layout_constraintBottom_toBottomOf="@+id/gl_horizontal_center"
         app:layout_constraintEnd_toStartOf="@+id/gl_vertical_center"
         android:layout_marginEnd="@dimen/dp_106"
         android:text="左前车门未关"
@@ -191,9 +199,9 @@
         android:gravity="center"
         android:visibility="gone"
         app:layout_constraintEnd_toStartOf="@+id/gl_vertical_center"
-        app:layout_constraintTop_toBottomOf="@+id/actv_front_left_door"
+        app:layout_constraintTop_toBottomOf="@+id/gl_horizontal_center"
         android:layout_marginEnd="@dimen/dp_135"
-        android:layout_marginTop="@dimen/dp_87"
+        android:layout_marginTop="@dimen/dp_142"
         android:text="左后车门未关"
         android:textSize="@dimen/dp_35"
         android:textColor="@color/taxi_p_2B364B"
@@ -206,9 +214,9 @@
         android:gravity="center"
         android:visibility="gone"
         app:layout_constraintStart_toEndOf="@+id/gl_vertical_center"
-        app:layout_constraintTop_toBottomOf="@+id/actv_front_left_door"
+        app:layout_constraintTop_toBottomOf="@+id/gl_horizontal_center"
         android:layout_marginStart="@dimen/dp_135"
-        android:layout_marginTop="@dimen/dp_87"
+        android:layout_marginTop="@dimen/dp_142"
         android:text="右后车门未关"
         android:textSize="@dimen/dp_35"
         android:textColor="@color/taxi_p_2B364B"
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 abe0711de5..d4123ac154 100644
--- a/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
+++ b/app/src/main/java/com/mogo/launcher/startup/ConfigStartUp.kt
@@ -132,7 +132,7 @@ object ConfigStartUp {
         }
 
         val mapParams = MapParams.init()
-        mapParams.setDebugMode(DebugConfig.isDebug()) // 1-使用本地地图数据，0-使用在线地图数据
+        mapParams.setDebugMode(false) // 1-使用本地地图数据，0-使用在线地图数据
             //.setDataFileSource(1)
             .setIsRecordLogs(false)
             .setIsWeatherEnable(false)
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt
index 7ceb44179f..8dd062988f 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/obu/V2xObuEventManager.kt
@@ -40,6 +40,8 @@ object V2xObuEventManager : IMoGoObuSaveMessageListener {
      */
     override fun onMoGoObuSaveMessage(type: String, content: String, tts: String, sourceType: DataSourceType,communicationType: CommunicationType) {
         if (content.isNotEmpty()) {
+            //消息埋点
+            V2XEventAnalyticsManager.receiveV2XEvent(type,content,tts,sourceType,communicationType)
             if (obuDataMap.containsKey(type)) {
                 val oldTime = obuDataMap[type]
                 oldTime?.let {
diff --git a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2XEventAnalyticsManager.kt b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2XEventAnalyticsManager.kt
index c762d1a419..419280320a 100644
--- a/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2XEventAnalyticsManager.kt
+++ b/core/function-impl/mogo-core-function-biz/src/main/java/com/mogo/eagle/function/biz/v2x/v2n/utils/V2XEventAnalyticsManager.kt
@@ -22,6 +22,7 @@ object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvi
     private const val TAG = "V2XEventAnalyticsManager"
     private val hasInit by lazy { AtomicBoolean(false) }
 
+    private const val EVENT_KEY_RECEIVE_V2X_MSG ="event_key_receive_v2x_msg" //鹰眼接收到的V2X事件埋点关键字
     private const val EVENT_KEY_V2X_MSG_EVENT = "event_key_v2x_msg_event" //消息盒子播报V2X事件埋点关键字
 
     private const val EVENT_PARAMS_POI_TYPE = "poiType" //事件类型
@@ -71,7 +72,29 @@ object V2XEventAnalyticsManager: IMoGoChassisLocationWGS84Listener,IFuncBizProvi
     }
 
     /**
-     * 触发V2X消息埋点
+     * 收到V2X消息埋点（鹰眼收到事件）
+     */
+    fun receiveV2XEvent(poiType: String,content: String?,ttsContent: String?,
+                        dataSource: DataSourceType,communicationType: CommunicationType){
+        val msgEventParams = HashMap<String,Any>()
+        msgEventParams[EVENT_PARAMS_POI_TYPE] = poiType //事件类型
+        msgEventParams[EVENT_PARAMS_CONTENT] = content?:"" //事件内容
+        msgEventParams[EVENT_PARAMS_TTS_CONTENT] = ttsContent?:"" //语音播报内容
+        msgEventParams[EVENT_PARAMS_DISPLAY_TIME] = DateTimeUtils.getTimeText(
+            System.currentTimeMillis(), DateTimeUtils.yyyy_MM_dd_HH_mm_ss) //展示时间
+        msgEventParams[EVENT_PARAMS_DATA_SOURCE] = dataSource.name //数据来源
+        msgEventParams[EVENT_PARAMS_COMMUNICATION_TYPE] = communicationType.name //通信类型
+        msgEventParams[EVENT_PARAMS_PLATE_NUMBER] =  AppConfigInfo.plateNumber //车牌号
+        msgEventParams[EVENT_PARAMS_CAR_SN] = MoGoAiCloudClientConfig.getInstance().sn //鹰眼SN
+        msgEventParams[EVENT_PARAMS_EYE_VERSION] = AppUtils.getAppVersionName() //鹰眼版本
+        msgEventParams[EVENT_PARAMS_LONGITUDE] = "$longitude" //经度
+        msgEventParams[EVENT_PARAMS_LATITUDE] = "$latitude" //纬度
+        msgEventParams[EVENT_PARAMS_HEADING] = "$heading" //航向角
+        MogoAnalyticUtils.track(EVENT_KEY_RECEIVE_V2X_MSG,msgEventParams)
+    }
+
+    /**
+     * 触发V2X消息埋点(播报事件)
      */
     fun triggerV2XEvent(poiType: String,content: String?,ttsContent: String?,
                         dataSource: DataSourceType,communicationType: CommunicationType){
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 fa6fa59c1d..be0d0053d7 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
@@ -325,6 +325,9 @@ class SmallMapView @JvmOverloads constructor(
         super.onAutopilotRouteLineId(lineId)
         if(lineId == 0L){
             this.globalPathResp = null
+            UiThreadHandler.post {
+                clearPolyline()
+            }
         }
     }
 
diff --git a/gradle.properties b/gradle.properties
index 5d3accc1f6..ba91c0dbeb 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -85,7 +85,7 @@ MOGO_LOCATION_VERSION=1.4.7.12
 MOGO_TELEMATIC_VERSION=1.4.7.12
 ######## MogoAiCloudSDK Version ########
 # 自研地图
-MAP_SDK_VERSION=2.14.1.5
+MAP_SDK_VERSION=2.14.2.8
 MAP_SDK_OPERATION_VERSION=1.1.4.1
 # websocket
 WEBSOCKET_VERSION=1.1.7