diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 18bc7c28dc..2ad793a6c3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -565,6 +565,15 @@ class DebugSettingView @JvmOverloads constructor(
             tbIsRainMode.visibility = View.GONE
         }
 
+        tbBeautyMode.isChecked = FunctionBuildConfig.isBeautyMode
+        //感知优化模式
+        tbBeautyMode.setOnCheckedChangeListener { _, isChecked ->
+            FunctionBuildConfig.isBeautyMode = isChecked
+            if (!FunctionBuildConfig.isBeautyMode) {
+                tbBeautyMode.isChecked = false
+            }
+        }
+
         //重启工控机所有节点
         btnIpcReboot.onClick {
             CallerAutoPilotManager.sendIpcReboot()
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
index abd25fb7af..c12febc8f6 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_debug_setting.xml
@@ -232,6 +232,17 @@
                 android:textSize="@dimen/dp_24"
                 android:background="@drawable/radio_button_normal_background_right"/>
 
+            <ToggleButton
+                android:id="@+id/tbBeautyMode"
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content"
+                android:layout_margin="@dimen/dp_10"
+                android:textColor="#000"
+                android:textOff="开启感知优化模式"
+                android:textOn="关闭感知优化模式"
+                android:textSize="@dimen/dp_24"
+                android:background="@drawable/radio_button_normal_background_right"/>
+
             <Button
                 android:id="@+id/btnIpcReboot"
                 android:layout_width="match_parent"
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
index 0c83cf032d..65f6a665a4 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyFactory.kt
@@ -2,6 +2,7 @@ package com.mogo.eagle.core.function.map.identify
 
 import android.os.Handler
 import android.os.Message
+import android.util.Log
 import com.mogo.eagle.core.data.config.FunctionBuildConfig
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
 import com.mogo.eagle.core.utilcode.mogo.thread.WorkThreadHandler
@@ -36,6 +37,19 @@ object IdentifyFactory : Identify {
         object : Handler(WorkThreadHandler.newInstance("IdentifyFactoryDrawer").looper) {
             override fun handleMessage(msg: Message) {
                 super.handleMessage(msg)
+                if(!FunctionBuildConfig.isBeautyMode){
+                    if(identify is IdentifyBeautifyDataDrawer){
+                        identify!!.clearOldMarker()
+                        identify = DriverIdentify.originDataDrawer
+                        Log.d("0816arrow","set origin")
+                    }
+                }else{
+                    if(identify is IdentifyOriginDataDrawer){
+                        identify!!.clearOldMarker()
+                        identify =  UserIdentify.beautifyDataDrawer
+                        Log.d("0816arrow","set beauty")
+                    }
+                }
                 when(msg.what){
                     MSG_DATA_TRACK -> {
                         if(msg.obj is List<*>){
diff --git a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
index 559cc42620..041d8f2e01 100644
--- a/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
+++ b/core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/map/identify/IdentifyOriginDataDrawer.kt
@@ -154,11 +154,11 @@ class IdentifyOriginDataDrawer : Identify, IMoGoAutopilotStatusListener {
             //首次过来的数据不添加,首次未添加的感知物在调用完绘制方法后再塞入cache map
             val cacheData = mMarkersCaches[uuid]
             if (cacheData != null) {
-                if (data.speed < 0.5) {
-                    temp = data.toBuilder().setHeading(cacheData.heading)
-                        .setLongitude(cacheData.longitude)
-                        .setLatitude(cacheData.latitude).build()
-                }
+//                if (data.speed < 0.5) {
+//                    temp = data.toBuilder().setHeading(cacheData.heading)
+//                        .setLongitude(cacheData.longitude)
+//                        .setLatitude(cacheData.latitude).build()
+//                }
                 if (colorTrafficData.containsKey(uuid)) {
                     val planningTrack = colorTrafficData[uuid]
                     if (!timeOut(planningTrack!!.time)) {
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
index 1a26d2f71c..5259e770d9 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/config/FunctionBuildConfig.kt
@@ -29,6 +29,17 @@ object FunctionBuildConfig {
     @JvmField
     var isRainMode = false
 
+    /**
+     * 是否是感知优化模式
+     * 默认开启
+     * 打开后可实现感知优化效果
+     * 1、静止车辆抖动优化
+     * 2、静止车辆航向角和位置按车道方向优化
+     */
+    @Volatile
+    @JvmField
+    var isBeautyMode = true
+
     /**
      * 当前APP的身份模式
      *