diff --git a/entry/src/main/cpp/bin/libJudgeSdk.so b/entry/src/main/cpp/bin/libJudgeSdk.so
index 67cdef65..14f79f37 100644
Binary files a/entry/src/main/cpp/bin/libJudgeSdk.so and b/entry/src/main/cpp/bin/libJudgeSdk.so differ
diff --git a/entry/src/main/cpp/sdk/common/HSystem.h b/entry/src/main/cpp/sdk/common/HSystem.h
index 4ee8f7fa..cef6039c 100644
--- a/entry/src/main/cpp/sdk/common/HSystem.h
+++ b/entry/src/main/cpp/sdk/common/HSystem.h
@@ -12,7 +12,7 @@
  ***
  ***  说明：编译配置选项
  ***
- ***  JUDGE_USE_S3T_TEST    //是否启用大车科目三测试
+ ***  JUDGE_USE_TSUB3T    //是否启用大车科目三测试
  ***  JUDGE_USE_NSUB3       //是否启用新科三评判
  ***  JUDGE_USE_OLD         //是否启用评判语音播报之前老模式
  ***  JUDGE_USE_LOG         //是否启用日志功能模块
@@ -33,7 +33,7 @@
 /*
  * 是否启用大车科目三测试
  */
-#define JUDGE_USE_S3T_TEST  0
+#define JUDGE_USE_TSUB3T  0
 
 /*
  * 是否启用新科目三评判
diff --git a/entry/src/main/cpp/sdk/common/HVersion.h b/entry/src/main/cpp/sdk/common/HVersion.h
index 2211b3fe..49de7ef0 100644
--- a/entry/src/main/cpp/sdk/common/HVersion.h
+++ b/entry/src/main/cpp/sdk/common/HVersion.h
@@ -27,7 +27,7 @@
 #define JUDGE_VERSION_MAJOR  1
 #define JUDGE_VERSION_MINOR  0
 #define JUDGE_VERSION_PATCH  3
-#define JUDGE_VERSION_STAMP  "2503191702b"
+#define JUDGE_VERSION_STAMP  "2503270900b"
 #if JUDGE_USE_OLD
 #   undef JUDGE_VERSION_STAMP
 #   define JUDGE_VERSION_STAMP  "2411121010b.old"
diff --git a/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.cpp b/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.cpp
index d592de48..e58d78d9 100644
--- a/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.cpp
+++ b/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.cpp
@@ -134,6 +134,26 @@ ExamItemCodes SysParmTable::findSub2ExamItems(int carCode) const
     return items;
 }
 
+int SysParmTable::findQiBuGear(int carCode)
+{
+    //NO1=3 NO2=车型代码 NO3=4条件 TXT1
+    int gear = INVALID_INDEX;
+    int size = parm3Size();
+    for(int i = 0; i < size; i++)
+    {
+        const TSystemparm* parm3 = parm3By(i);
+        if(parm3->NO2 == carCode && parm3->NO3 == 4)
+        {
+            if(!parm3->TXT1.empty())
+            {
+                gear = std::atoi(parm3->TXT1.data());
+                break;
+            }
+        }
+    }
+    return gear;
+}
+
 TItemCodes SysParmTable::findItemCodes(ExamItemCodes items) const
 {
     TItemCodes codes;
diff --git a/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.h b/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.h
index 4eaf04df..1881cccb 100644
--- a/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.h
+++ b/entry/src/main/cpp/sdk/database/sysparm/SysParmTable.h
@@ -57,6 +57,12 @@ public:
      */
     ExamItemCodes findSub2ExamItems(int carCode) const;
 
+    /*
+     * 查找起步档位 NO1=3 NO2=车型代码 NO3=4条件 TXT1
+     *
+     */
+    int findQiBuGear(int carCode);
+
     /*
      * 科二科三通用,通过我们公司自定义的项目代码，获取到无锡所定义的标准项目代码和项目名称(简称)等
      * NO1=6 NO2=公司自定义的项目代码  查出来 NO2:我们公司的项目代码  TXT1:项目名称全称  TXT2:无锡所代码  TXT3:项目名称简称
diff --git a/entry/src/main/cpp/sdk/database/sysset/SysSetTable.h b/entry/src/main/cpp/sdk/database/sysset/SysSetTable.h
index 8ba4dab6..e788f827 100644
--- a/entry/src/main/cpp/sdk/database/sysset/SysSetTable.h
+++ b/entry/src/main/cpp/sdk/database/sysset/SysSetTable.h
@@ -183,7 +183,8 @@ class JUDGE_API SysSetTable : public IDBTable
     SYSSET_DECLARE(378);                             //变更车道和超车:取消第1个项目 (0-不能 1-不变道也不开转向灯 2-开双跳)  //0
     SYSSET_DECLARE(383, type_array, "^");            //新模拟夜间(次数^错扣^固定^)   //-
     SYSSET_DECLARE(386);                             //触发夜间灯光模拟的条件(0-点完成 1-插安全带或点火 2-点火 3-上车准备人工评判按钮切换 4-点击“继续考试”按钮触发 5-有点火1信号就可以触发，6-有安全带就触发) //1  //3时342=0或2有效
-    SYSSET_DECLARE(389);                             //人行道不能掉头（0-否 1-是） // 0
+    SYSSET_DECLARE(388, type_int);                   //超车后是否驶回原车道（0-否 1-是） 默认不设置为0
+    SYSSET_DECLARE(389);                             //人行道不能掉头（0-否 1-是） // 默认不设置为0
     SYSSET_DECLARE(390);                             //加减档位顺序  //23432
     SYSSET_DECLARE(394, type_array2, ";", ":");      //档位车速范围  //1:0-20;2:5-30;3:15-40;4:25-55;5:35-150;
     SYSSET_DECLARE(398, type_int);                   //第二次考试不绕车一周(0-否+1-是)不扣分
@@ -256,6 +257,7 @@ class JUDGE_API SysSetTable : public IDBTable
     SYSSET_DECLARE(615);                             //侧方停车读卡前进时碰6线不合格 0
     SYSSET_DECLARE(617, type_int);                   //参数617：语音实时播报项目是否合格（0-否 1-是）语音码：xmhg，xmbhg
     SYSSET_DECLARE(624);                             //考试评判车门模式
+    SYSSET_DECLARE(641, type_int);                   //641=1 是车尾过5-6延长线结束
     SYSSET_DECLARE(660);                             //侧方停车项目 停车距离判断阈值控制参数
     SYSSET_DECLARE(668);                             //安全带评判模式
     SYSSET_DECLARE(671);                             //停车距离判断阈值控制参数
@@ -322,6 +324,7 @@ class JUDGE_API SysSetTable : public IDBTable
         SYSSET_ASSIGN(378);
         SYSSET_ASSIGN(383);
         SYSSET_ASSIGN(386);
+        SYSSET_ASSIGN(388);
         SYSSET_ASSIGN(389);
         SYSSET_ASSIGN(390);
         SYSSET_ASSIGN(394);
@@ -395,6 +398,7 @@ class JUDGE_API SysSetTable : public IDBTable
         SYSSET_ASSIGN(615);
         SYSSET_ASSIGN(617);
         SYSSET_ASSIGN(624);
+        SYSSET_ASSIGN(641);
         SYSSET_ASSIGN(660);
         SYSSET_ASSIGN(668);
         SYSSET_ASSIGN(671);
diff --git a/entry/src/main/cpp/sdk/exam/ExamCarSub3.cpp b/entry/src/main/cpp/sdk/exam/ExamCarSub3.cpp
index fae2ede0..ed48a72d 100644
--- a/entry/src/main/cpp/sdk/exam/ExamCarSub3.cpp
+++ b/entry/src/main/cpp/sdk/exam/ExamCarSub3.cpp
@@ -694,7 +694,7 @@ void ExamCarSub3::UpdateCarParmWithSystemParm()
         {
             if(parm3TXT1 != "")
             {
-#if !JUDGE_USE_S3T_TEST
+#if !JUDGE_USE_TSUB3T
 
                 parm3TXT1 = Tools::toupper(parm3TXT1);
                 m_carInfo->kscx = parm3TXT1;
diff --git a/entry/src/main/cpp/sdk/exam/ExamSensor.cpp b/entry/src/main/cpp/sdk/exam/ExamSensor.cpp
index 5e132602..2e2e5652 100644
--- a/entry/src/main/cpp/sdk/exam/ExamSensor.cpp
+++ b/entry/src/main/cpp/sdk/exam/ExamSensor.cpp
@@ -1043,7 +1043,8 @@ bool ExamSensor::filterWrong(TChuanGan* cg)
     ExamSubject sub = m_car->examSubject();
     if(ExamSubject2 == sub)
     {
-        return gps.rtkEnabled == true && gps.valid();
+        //return gps.rtkEnabled == true && gps.valid();
+        return gps.valid();   //2025-03-20 modify
     }
     else if(ExamSubject3 == sub)
     {
diff --git a/entry/src/main/cpp/sdk/judge/HJudgeItem.h b/entry/src/main/cpp/sdk/judge/HJudgeItem.h
index 4da3b221..c450afef 100644
--- a/entry/src/main/cpp/sdk/judge/HJudgeItem.h
+++ b/entry/src/main/cpp/sdk/judge/HJudgeItem.h
@@ -873,6 +873,8 @@ struct TSub3Item20Comm_XLG    //标准科目三综合评判 TKm3Itm20_XLG
     bool qdysFlag = false; //启动钥匙标志
     bool aqd_kfid = false; //安全带扣分
     int CGD_Nums = 0; //达到次高挡的次数
+
+    bool rmndg2 = false; //无锡地区在发动机未启动点切换，提示启动发动机，启动发动机之后播报模拟灯光
 };
 
 struct TSub3Item20Comm_NS3  //新科目三
diff --git a/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge03Cftc.cpp b/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge03Cftc.cpp
index f53d766c..e0de02e9 100644
--- a/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge03Cftc.cpp
+++ b/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge03Cftc.cpp
@@ -116,8 +116,8 @@ JUDGE_STAGE_IMPL(Sub2Judge03Cftc, Sub2CftcStage0)
     //穿越结束线了
     if(m_endLineFlag == true && cgcu->move == moveForward)
     {
-        int syset = TableSysSet->asInt606();
-        if(syset == 1 || m_existMark == true)  //不可以取消项目，或者侧方已经扣过分了
+        int s606 = TableSysSet->asInt606();
+        if(s606 == 1 || m_existMark == true)  //不可以取消项目，或者侧方已经扣过分了
         {
             ENTER_ITEM_AND_MARK(JUDGE_MARK_ITEM_MUST_ONCE(MARK_SUB2_CFTC_41));
         }
@@ -372,15 +372,37 @@ void Sub2Judge03Cftc::calcCrossLine()
             //后轮没有穿越结束线
             if(m_endLineFlag == false)
             {
-                const TGPSLine& L78 = m_model->L78();
-                #if JUDGE_USE_INSPECT
-                bool endLine = (pureCarTouchSomeSegment(L78, {II(13)}, history)); //车身13点就是尾部中间那个点
-                #else
-                bool endLine = (pureCarTouchSomeSegment(L78, wheels, history));
-                #endif
-                if(endLine)
+                int s641 = TableSysSet->asInt641();
+                if(s641 == 1)
                 {
-                    m_endLineFlag = true;
+                    if(m_stage >= Sub2CftcStage2) //641=1 是车尾过5-6延长线结束 2025-03-26 add
+                    {
+                        if(pureCarTouchSoloSegment(L56, II(13), history))
+                        {
+                            m_endLineFlag = true;
+                        }
+                    }
+                    else if(m_stage == Sub2CftcStage0)
+                    {
+                        const TGPSLine& L78 = m_model->L78(); //606参数是0可能会取消项目所以要加这个逻辑
+                        if(pureCarTouchSoloSegment(L78, II(13), history))
+                        {
+                            m_endLineFlag = true;
+                        }
+                    }
+                }
+                else
+                {
+                    const TGPSLine& L78 = m_model->L78();
+                    #if JUDGE_USE_INSPECT
+                    bool endLine = (pureCarTouchSomeSegment(L78, {II(13)}, history)); //车身13点就是尾部中间那个点
+                    #else
+                    bool endLine = (pureCarTouchSomeSegment(L78, wheels, history));
+                    #endif
+                    if(endLine)
+                    {
+                        m_endLineFlag = true;
+                    }
                 }
             }
         }
diff --git a/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge20Comm.cpp b/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge20Comm.cpp
index 3280f5f0..e18b6893 100644
--- a/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge20Comm.cpp
+++ b/entry/src/main/cpp/sdk/judge/sub2/Sub2Judge20Comm.cpp
@@ -207,7 +207,7 @@ void Sub2Judge20Comm::Judge_XiHuo()
     const TSensorInfo& sor   = m_car->historySensor();
     const TSensorInfo& sor1  = m_car->historySensor(1);
     const TSensorInfo& sor2  = m_car->historySensor(2);
-    const TSensorInfo& sor10  = m_car->historySensor(10);
+    const TSensorInfo& sor10 = m_car->historySensor(10);
     if(m_flameoutKind == flameout_kind_0)  //发动机转速判熄火的
     {
         if(m_canFlameout)
diff --git a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.cpp b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.cpp
index 5ef926d9..4f1b3117 100644
--- a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.cpp
+++ b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.cpp
@@ -103,6 +103,12 @@ void Sub3Judge01Sczb::dealJudgeItem()
     //超声波评判跟差分信号没有关系，所以不做差分信号状态的判断
     //if(!m_car->rtkEnabled() || !m_car->rtkEnabled(1)) return;
 
+    const std::string& s386 = TableSysSet->get386();
+    if(s386 == "3") //无锡地区模式只要发动机启动了，点切换就上车准备自动完成播报模拟灯光
+    {
+        return;
+    }
+
     //有这种考试模式，上车准备是外壳完成的，这种少数，兼容 windows是这种做法
     const TStuInfo& stuInfo = m_car->stuInfo();
     if(stuInfo.sczb)  //StuInfo.CS_Finish_SCZB_Flag
@@ -165,25 +171,25 @@ void Sub3Judge01Sczb::dealJudgeItem()
 
     //加入超声波数据
     //加入左前
-    if(sor.csbzq < 800 && sor.csbzq > 0)
+    if(sor.csbzq < m_csbValue && sor.csbzq > 0)
     {
         AddCSBData(CsbType::ZQ);
     }
     //加入右后
-    if(sor.csbyh < 800 && sor.csbyh > 0)
+    if(sor.csbyh < m_csbValue && sor.csbyh > 0)
     {
         AddCSBData(CsbType::YH);
     }
     if(m_itemv.radarCount >= 3)
     {
         //加入右前
-        if(sor.csbyq < 800 && sor.csbyq > 0)
+        if(sor.csbyq < m_csbValue && sor.csbyq > 0)
         {
             AddCSBData(CsbType::YQ);
         }
 
         //加入左后
-        if(sor.csbzh < 800 && sor.csbzh > 0)
+        if(sor.csbzh < m_csbValue && sor.csbzh > 0)
         {
             AddCSBData(CsbType::ZH);
         }
@@ -197,8 +203,6 @@ void Sub3Judge01Sczb::dealJudgeItem()
         return;
     }
 
-    const std::string& s386 = TableSysSet->get386();
-
     if(m_itemv.newtype == 1)
     {
         //当前时刻的累计用时秒
diff --git a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.h b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.h
index 61e5420e..37c96839 100644
--- a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.h
+++ b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge01Sczb.h
@@ -53,6 +53,8 @@ protected:
 private:
     TSub3Item01Sczb m_itemv;
     std::deque<CsbType> m_csb; //CSBDataList: TStringList = nil;
+    //真正的超声波，返回的距离，单位mm。。没人的时候数字大几千，有人就是实际的距离。***一代机外壳做了转化
+    const int m_csbValue = 800;
 };
 
 #endif // SUB3JUDGE01SCZB_H
diff --git a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge02Qbxx.cpp b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge02Qbxx.cpp
index ae76e1ee..f94d844f 100644
--- a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge02Qbxx.cpp
+++ b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge02Qbxx.cpp
@@ -410,14 +410,16 @@ void Sub3Judge02Qbxx::Judge_QiBu_GuaCuoDang()
     if(cg->move == moveForward && his1->move == moveForward)
     {
         const TSensorInfo& sor = cg->real.sensor;
+        //小车1档起步, 大车1、2档起步
+        static const int gear = TableSysParm->findQiBuGear(m_car->carCode());
 
 #if JUDGE_USE_INSPECT
-        if(sor.dw_plc >= 2)  //无锡所用原始档位
+        if(sor.dw_plc > gear)  //无锡所用原始档位
         {
             JUDGE_MARK_SUB3(2, "44", false);
         }
 #else
-        if(sor.dw >= 2)
+        if(sor.dw > gear)
         {
             JUDGE_MARK_SUB3(2, "44", false);
         }
diff --git a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge10Ccxx.cpp b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge10Ccxx.cpp
index 73871c23..13555f9e 100644
--- a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge10Ccxx.cpp
+++ b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge10Ccxx.cpp
@@ -655,6 +655,13 @@ void Sub3Judge10Ccxx::dealJudgeItem()
             //5:回原车道阶段    6：完成回原车道阶段
             if(cg->ai_ljjl - m_itemv.Temp_LJJL_2 >= m_itemv.St4_CCD_MinJL)  //回原车道距离必须行驶到规定的距离
             {
+                //超车后是否驶回原车道（0-否 1-是） 默认不设置为0
+                int s388 = TableSysSet->asInt388();
+                if(s388 == 0)
+                {
+                    m_exam->TestPro = ItemProFlagEnd;
+                    return;
+                }
                 if(m_itemv.St4_HuiYuanCheDao_TM == 0)
                 {
                     m_itemv.St4_HuiYuanCheDao_TM = gps.sj;
diff --git a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge11Kbtc.h b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge11Kbtc.h
index 5d2dd001..58d9df24 100644
--- a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge11Kbtc.h
+++ b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge11Kbtc.h
@@ -134,6 +134,8 @@ public:
     DEAL_API bool dealJudgeEnter() override;
     DEAL_API void dealJudgeItem() override;
 
+    bool isConfirm() { return m_itemv.Status >= 3; };
+
 protected:
     void DoStatus_0(); //0-语音播报阶段
     void DoStatus_1(); //1-语音结束，开始评判 到停车前
diff --git a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge20Comm.cpp b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge20Comm.cpp
index b4daee09..f1efc168 100644
--- a/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge20Comm.cpp
+++ b/entry/src/main/cpp/sdk/judge/sub3/Sub3Judge20Comm.cpp
@@ -2,6 +2,7 @@
 #include "HFactory.h"
 #include "Sub3Judge14Jjdw.h"
 #include "Sub3Judge41Mndg.h"
+#include "Sub3Judge11Kbtc.h"
 
 Sub3Judge20Comm::Sub3Judge20Comm()
 {
@@ -768,7 +769,6 @@ void Sub3Judge20Comm::doCheck_ZuoYi()
 //加载模拟灯光项目
 void Sub3Judge20Comm::CallMoNiDengGuang()
 {
-
 #if JUDGE_USE_INSPECT
     return;  //屏蔽模拟灯光
 #endif
@@ -783,6 +783,19 @@ void Sub3Judge20Comm::CallMoNiDengGuang()
     const TSensorInfo& sor3 = his3->real.sensor;
 
     const std::string& ksdd = TableSysSet->get211();
+    const std::string& s386 = TableSysSet->get386();
+    if(s386 == "3")
+    {
+        //无锡地区模式只要发动机启动了，点切换就上车准备自动完成播报模拟灯光  //2025-03-21 yhy add
+        //无锡地区在发动机未启动点切换，提示启动发动机，启动发动机之后播报模拟灯光
+        if(m_itemvXLG.rmndg2 == false)
+        {
+            if(sor.rmndg == 2 && sor1.rmndg == 0 && sor2.rmndg == 0)
+            {
+                m_itemvXLG.rmndg2 = true;
+            }
+        }
+    }
 
     if(m_car->disForward() + m_car->disBackward() < 50 &&
             sor.fdjzs == SNOT && sor1.fdjzs == SNOT && sor2.fdjzs == SNOT && sor3.fdjzs == SNOT)
@@ -889,9 +902,8 @@ void Sub3Judge20Comm::CallMoNiDengGuang()
         return;
     }
 
-    const std::string& s386 = TableSysSet->get386();
     //模拟灯光：参数386=0,开始考试后，就触发模拟灯光
-    if(s386 != "0")
+    if(s386 != "0" && s386 != "3")
     {
         TKM3Item* item01 = m_car->findExamItem(Sub3ItemType01Sczb); //上车准备
         if(item01 && item01->FinishFlag == false)
@@ -909,7 +921,7 @@ void Sub3Judge20Comm::CallMoNiDengGuang()
             (s386 == "5" && sor.dh1 == SYES) ||
             (s386 == "6" && sor.aqd == SYES && sor1.aqd == SYES) ) //20170314 训练模式 只要有dh1就可以进行模拟灯光
     {
-        //关闭灯光  20180809
+        //关闭灯光提示 20180809
         if((s322 != "1") && (sor.shtd + sor.skd + sor.ygd + sor.jgd + sor.zfxd + sor.yfxd > 0 || ksdd == siteof::nj))
         {
             if(!m_itemvCJH.Gbdg_ID)
@@ -969,9 +981,19 @@ void Sub3Judge20Comm::CallMoNiDengGuang()
         }
         else
         {
-            //开始模拟灯光
-            if(item41 && item41->Item_Color == itemStateWk)
+            if(s386 == "3")
             {
+                //无锡地区模式只要发动机启动了，点切换就上车准备自动完成播报模拟灯光  //2025-03-21 yhy add
+                //无锡地区在发动机未启动点切换，提示启动发动机，启动发动机之后播报模拟灯光
+                if(m_itemvXLG.rmndg2 && sor.fdjzs > 100 && sor1.fdjzs > 100 && sor2.fdjzs > 100)
+                {
+                    m_car->KM3EndItem(Sub3ItemType01Sczb,true,false);
+                    m_car->setEnterItem(item41);
+                }
+            }
+            else
+            {
+                //开始模拟灯光
                 m_car->setEnterItem(item41);
             }
         }
@@ -2280,8 +2302,12 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian()
     const TRTKResult& RTKKM3 = cg->RTKKM3;
 
     //长时间骑轧车道分界线行驶
-    if(RTKKM3.BaseLaneCount == 0) return;
-    if(RTKKM3.TouchLineType == LineType_0) return;
+    if(RTKKM3.BaseLaneCount == 0 || RTKKM3.TouchLineType == LineType_0)
+    {
+        m_PubLastMark_XuXian_TK = 0;  //当前没压线给我退出
+        return;
+    }
+
     //检查是否真正做靠边停车项目
     bool KBTCFlag = m_car->itemsSomeExaming2(Sub3ItemType11Kbtc);
 
@@ -2334,9 +2360,14 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian()
     const TChuanGan* his2 = m_car->historyChuanGan(2);
     if(cg->move == moveForward && his1->move == moveForward && his2->move == moveForward)
     {
-        for(size_t i = 0 ; i < kind.size(); i++)
+        for(size_t i = 0; i < kind.size(); i++)
         {
-            if(kind[i] == LineType_0) continue;
+            auto ty = kind[i];
+            if(ty == LineType_0) continue;
+            if(m_PubLastMark_XuXian_TK == 0 && cg->RTKKM3.TouchLineType == ty)
+            {
+                m_PubLastMark_XuXian_TK = cg->tkCnt;
+            }
             bool OKFlag = true;
             for(int j = 0; j < 50; j++) //10秒钟，对应的是50帧
             {
@@ -2346,7 +2377,7 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian()
                     OKFlag = false;
                     break;
                 }
-                if(cg_j->RTKKM3.TouchLineType != kind[i] || cg_j->move == moveStop)
+                if(cg_j->RTKKM3.TouchLineType != ty || cg_j->move == moveStop)
                 {
                     OKFlag = false;
                     break;
@@ -2354,7 +2385,7 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian()
             }
             if(OKFlag == true)
             {
-                if(cg->tkCnt - m_PubLastMark_XuXian_TK >= 10 * SECOND)
+                if(m_PubLastMark_XuXian_TK> 0 && cg->tkCnt - m_PubLastMark_XuXian_TK >= 10 * SECOND)
                 {
                     const char* serial = "65";
                     #if JUDGE_USE_INSPECT
@@ -2388,8 +2419,11 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian_Tail()
     const TRTKResult& RTKKM3_Tail = cg->RTKKM3_Tail;
 
     //长时间骑轧车道分界线行驶
-    if(RTKKM3_Tail.BaseLaneCount == 0) return;
-    if(RTKKM3_Tail.TouchLineType == LineType_0) return;
+    if(RTKKM3_Tail.BaseLaneCount == 0 || RTKKM3_Tail.TouchLineType == LineType_0)
+    {
+        m_PubLastMark_XuXian_Tail_TK = 0;  //当前没压线给我退出
+        return;
+    }
     //检查是否真正做靠边停车项目
     bool KBTCFlag = m_car->itemsSomeExaming2(Sub3ItemType11Kbtc);
 
@@ -2440,12 +2474,16 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian_Tail()
 
     const TChuanGan* his1 = m_car->historyChuanGan(1);
     const TChuanGan* his2 = m_car->historyChuanGan(2);
-
     if(cg->move == moveForward && his1->move == moveForward && his2->move == moveForward)
     {
-        for(size_t i = 0 ; i < kind.size(); i++)
+        for(size_t i = 0; i < kind.size(); i++)
         {
-            if(kind[i] == LineType_0) continue;
+            auto ty = kind[i];
+            if(ty == LineType_0) continue;
+            if(m_PubLastMark_XuXian_Tail_TK == 0 && cg->RTKKM3_Tail.TouchLineType == ty)
+            {
+                m_PubLastMark_XuXian_Tail_TK = cg->tkCnt;
+            }
             bool OKFlag = true;
             for(int j = 0; j < 50; j++) //10秒钟，对应的是50帧
             {
@@ -2455,7 +2493,7 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian_Tail()
                     OKFlag = false;
                     break;
                 }
-                if(cg_j->RTKKM3_Tail.TouchLineType != kind[i] || cg_j->move == moveStop)
+                if(cg_j->RTKKM3_Tail.TouchLineType != ty || cg_j->move == moveStop)
                 {
                     OKFlag = false;
                     break;
@@ -2463,7 +2501,7 @@ void Sub3Judge20Comm::Judge_YaXian_10S_XuXian_Tail()
             }
             if(OKFlag == true)
             {
-                if(cg->tkCnt - m_PubLastMark_XuXian_Tail_TK >= 10 * SECOND)
+                if(m_PubLastMark_XuXian_Tail_TK > 0 && cg->tkCnt - m_PubLastMark_XuXian_Tail_TK >= 10 * SECOND)
                 {
                     const char* serial = "65";
 #if JUDGE_USE_INSPECT
@@ -4516,16 +4554,16 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
     // 加减档位操作挂一个挡位要松一次离合器（项目,全程）（0-否 1-是）（）
     // *)
     const std::vector<std::string>& s425 = TableSysSet->asArray425();
-    std::string ss = s425.size() > 1 ? s425[1] : "";
+    std::string ss425 = s425.size() > 1 ? s425[1] : "";
     TKM3Item* item14 = m_car->findExamItem(Sub3ItemType14Jjdw);//加减挡
-    if(item14 && item14->TestPro == ItemProFlagIdle && ss == "1")
+    if(item14 && item14->TestPro == ItemProFlagIdle && ss425 == "1")
     {
         const TSensorInfo& sor3 = m_car->historySensor(3);
         if(sor.dw == sor1.dw && sor.dw != sor2.dw && sor.dw != sor3.dw && sor.dw > 0)
         {
             int dw = sor.dw;
             int k = 0;
-            int count =m_car->historyCount();
+            int count = m_car->historyCount();
             for(int i = 1; i <= 25; i++)
             {
                 if(i >= count || i + 6 >= count)
@@ -4534,6 +4572,7 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
                 }
 
                 const TSensorInfo& sori = m_car->historySensor(i);
+                int dw_i0 = sori.dw;
                 int dw_i1 = m_car->historySensor(i + 1).dw;
                 int dw_i2 = m_car->historySensor(i + 2).dw;
                 int dw_i3 = m_car->historySensor(i + 3).dw;
@@ -4542,9 +4581,9 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
                 int dw_i6 = m_car->historySensor(i + 6).dw;
 
                 if(sori.lhq == SNOT) break;
-                if(sori.dw == SNOT) continue;
-                if(dw != sori.dw && sori.dw == dw_i1 && sori.dw  == dw_i2 && sori.dw  == dw_i3 &&
-                        sori.dw  == dw_i4 && sori.dw == dw_i5 && sori.dw == dw_i6)
+                if(dw_i0 == SNOT) continue;
+                if(dw != dw_i0 && dw_i0 == dw_i1 && dw_i0  == dw_i2 && dw_i0 == dw_i3 &&
+                        dw_i0  == dw_i4 && dw_i0 == dw_i5 && dw_i0 == dw_i6)
                 {
                     k = k + 1;
                     dw = sori.dw;
@@ -4562,24 +4601,28 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
     if(m_itemvCJH.yjjdcxsj == 0)
     {
         if(sor.dw == sor1.dw && sor.dw == sor2.dw && sor.dw > 0 && sor.dw < 9 &&
-                sor.lhq == SNOT && gps.sd > 5 && !IS_C2(m_carType) && !IS_C5(m_carType))  //增加了车速>5 20151214
+           sor.lhq == SNOT && gps.sd > 5 && !IS_C2(m_carType) && !IS_C5(m_carType))  //增加了车速>5 20151214
         {
-
-            for( int i = 3; i < 53; i++)
+            for(int i = 3; i < 53; i++)
             {
-                if(i >= count || i + 1 >= count)
+                if(i >= count || i + 2 >= count)
                 {
                     break;
                 }
                 const TChuanGan* hisi = m_car->historyChuanGan(i);
                 const TSensorInfo& sori = hisi->real.sensor;
-                int dw_i1 = m_car->historySensor(i + 1).dw;
+                int dw_i0 = sori.dw;
+                if(dw_i0 != 0) break;
 
-                if(sori.dw >= sor.dw && sori.lhq == SNOT)  break;
-                if(sori.dw + 1 == sor.dw && sori.lhq == SNOT)  break;
-                if(sori.dw < sor.dw && dw_i1 == sori.dw && sori.dw > 0)
+                int dw_i1 = m_car->historySensor(i + 1).dw;
+                int dw_i2 = m_car->historySensor(i + 2).dw;
+
+                if(dw_i1 >= sor.dw && sori.lhq == SNOT) break;
+                if(dw_i1 + 1 == sor.dw && sori.lhq == SNOT) break;
+
+                if(dw_i1 < sor.dw  && dw_i1 > 0 && dw_i1 == dw_i2)
                 {
-                    if(sor.dw - sori.dw > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
+                    if(sor.dw - dw_i1 > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
                     {
                         bool FindFlag = false;
                         if(ksdd == siteof::JXNC || m_itemvCJH.qcyjjdkf == 1)
@@ -4613,30 +4656,34 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
         const TSensorInfo& sor3 = m_car->historySensor(3);
         const TSensorInfo& sor4 = m_car->historySensor(4);
         if(sor.dw == sor1.dw && sor.dw == sor2.dw && sor.dw == sor3.dw && sor.dw == sor4.dw &&
-                sor.dw > 0 && sor.dw < 9 && sor.lhq == SNOT && sor4.lhq == SNOT && gps.sd > 5  &&
+                sor.dw > 0 && sor.dw < 9 && sor.lhq == SNOT && sor4.lhq == SNOT && gps.sd > 5 &&
                 !IS_C2(m_carType) && !IS_C5(m_carType)) //增加了车速>5 20151214
         {
             for(int i = 5; i <= 55; i++)
             {
-                if(i >= count || i + 4 >= count)
+                if(i >= count || i + 5 >= count)
                 {
                     break;
                 }
 
                 const TChuanGan* hisi = m_car->historyChuanGan(i);
                 const TSensorInfo& sori  = hisi->real.sensor;
+                int dw_i0 = sori.dw;
+                if(dw_i0 != 0) break;
 
                 int dw_i1 = m_car->historySensor(i + 1).dw;
                 int dw_i2 = m_car->historySensor(i + 2).dw;
                 int dw_i3 = m_car->historySensor(i + 3).dw;
                 int dw_i4 = m_car->historySensor(i + 4).dw;
+                int dw_i5 = m_car->historySensor(i + 5).dw;
 
-                if(sori.dw > sor.dw && sori.lhq == SNOT)  break;
-                if(sori.dw + 1 == sor.dw && sori.lhq == SNOT)  break;
-                if(sori.dw < sor.dw && dw_i1 == sori.dw && dw_i2 == sori.dw &&
-                        dw_i3 == sori.dw && dw_i4 == sori.dw && sori.dw > 0)
+                if(dw_i1 > sor.dw && sori.lhq == SNOT) break;
+                if(dw_i1 + 1 == sor.dw && sori.lhq == SNOT) break;
+
+                if(dw_i1 < sor.dw && dw_i1 > 0 &&
+                   dw_i2 == dw_i1 && dw_i3 == dw_i1 && dw_i4 == dw_i1 && dw_i5 == dw_i1)
                 {
-                    if((sor.dw - sori.dw) > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
+                    if(sor.dw - dw_i1 > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
                     {
                         bool FindFlag = false;
                         if(ksdd == siteof::JXNC || m_itemvCJH.qcyjjdkf == 1)
@@ -4681,12 +4728,14 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
         {
             for(int i = 9; i < 59; i++)
             {
-                if(i >= count || i + 9 >= count)
+                if(i >= count || i + 10 >= count)
                 {
                     break;
                 }
                 const TChuanGan* hisi = m_car->historyChuanGan(i);
-                const TSensorInfo& sori  = hisi->real.sensor;
+                const TSensorInfo& sori = hisi->real.sensor;
+                int dw_i0 = sori.dw;
+                if(dw_i0 != 0) break;
 
                 int dw_i1 = m_car->historySensor(i + 1).dw;
                 int dw_i2 = m_car->historySensor(i + 2).dw;
@@ -4697,14 +4746,16 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
                 int dw_i7 = m_car->historySensor(i + 7).dw;
                 int dw_i8 = m_car->historySensor(i + 8).dw;
                 int dw_i9 = m_car->historySensor(i + 9).dw;
+                int dw_i10 = m_car->historySensor(i + 10).dw;
 
-                if(sori.dw > sor.dw && sori.lhq == SNOT)  break;
-                if(sori.dw + 1 == sor.dw && sori.lhq == SNOT) break;
-                if(sori.dw < sor.dw && dw_i1 == sori.dw && dw_i2 == sori.dw && dw_i3 == sori.dw &&
-                        dw_i4 == sori.dw && dw_i5 == sori.dw && dw_i6 == sori.dw &&
-                        dw_i7 == sori.dw && dw_i8 == sori.dw && dw_i9 == sori.dw && sori.dw > 0)
+                if(dw_i1 > sor.dw && sori.lhq == SNOT) break;
+                if(dw_i1 + 1 == sor.dw && sori.lhq == SNOT) break;
+
+                if(dw_i1 < sor.dw && dw_i1 > 0 && dw_i2 == dw_i1 && dw_i3 == dw_i1 &&
+                   dw_i4 == dw_i1 && dw_i5 == dw_i1 && dw_i6 == dw_i1 && dw_i7 == dw_i1 &&
+                        dw_i8 == dw_i1 && dw_i9 == dw_i1 && dw_i10 == dw_i1)
                 {
-                    if(sor.dw - sori.dw > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
+                    if(sor.dw - dw_i1 > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
                     {
                         bool FindFlag = false;
                         if(ksdd == siteof::JXNC || m_itemvCJH.qcyjjdkf == 1)
@@ -4719,6 +4770,8 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
                         }
                         if(FindFlag == true)
                         {
+                            //安卓档位评判好像逻辑上做了优化，比方说越级加档，中间必须出现 0 才判，1 跳 3 的情况，没出现 0 不判
+                            //项目经理吉说的先按照这样做
                             JUDGE_MARK_SUB3(14, "01", true);
                         }
                         else
@@ -4741,7 +4794,8 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
                     }
 
                     const TChuanGan* hisi = m_car->historyChuanGan(i);
-                    const TSensorInfo& sori  = hisi->real.sensor;
+                    const TSensorInfo& sori = hisi->real.sensor;
+                    int dw_i0 = sori.dw;
 
                     int dw_i1 = m_car->historySensor(i + 1).dw;
                     int dw_i2 = m_car->historySensor(i + 2).dw;
@@ -4753,19 +4807,17 @@ void Sub3Judge20Comm::Judge_YueJi_JiaJianDang()
                     int dw_i8 = m_car->historySensor(i + 8).dw;
                     int dw_i9 = m_car->historySensor(i + 9).dw;
 
-                    if(sori.dw == 9)  break;
+                    if(dw_i0 == 9)  break;
                     if(hisi->move != moveForward) break;
-                    if(sori.dw < sor.dw && sori.lhq == SNOT) break;
-                    if(sori.dw - 1 == sor.dw && sori.lhq == SNOT) break;
+                    if(dw_i0 < sor.dw && sori.lhq == SNOT) break;
+                    if(dw_i0 - 1 == sor.dw && sori.lhq == SNOT) break;
 
-                    if(sori.dw > sor.dw && dw_i1 == sori.dw
-                            && dw_i2 == sori.dw && dw_i3 == sori.dw
-                            && dw_i4 == sori.dw && dw_i5 == sori.dw
-                            && dw_i6 == sori.dw && dw_i7 == sori.dw
-                            && dw_i8 == sori.dw && dw_i9 == sori.dw
-                            && sori.dw > 0)
+                    if(dw_i0 > sor.dw && dw_i0 > 0 &&
+                            dw_i1 == dw_i0 && dw_i2 == dw_i0 && dw_i3 == dw_i0 &&
+                            dw_i4 == dw_i0 && dw_i5 == dw_i0 && dw_i6 == dw_i0 &&
+                            dw_i7 == dw_i0 && dw_i8 == dw_i0 && dw_i9 == dw_i0)
                     {
-                        if((sori.dw - sor.dw) > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
+                        if(dw_i0 - sor.dw > 1 && m_itemvCJH.yjjdkfjs != hisi->tkCnt)
                         {
                             bool FindFlag = false;
                             if(ksdd == siteof::JXNC || m_itemvCJH.qcyjjdkf == 1)
@@ -5477,10 +5529,21 @@ void Sub3Judge20Comm::Judge_CiGaoDang()
     {
         if(m_car->isMileage())  //靠边停车前结算次高档也要判断行驶里程
         {
-            TKM3Item* item = m_car->findExamItem(Sub3ItemType11Kbtc);
-            if(item && item->Item_Color != itemStateWk)
+            //TKM3Item* item = m_car->findExamItem(Sub3ItemType11Kbtc);
+            //if(item && item->Item_Color != itemStateWk)
+            //{
+            //    timing = true;
+            //}
+
+            //靠边模式评判次高档的时机调整到靠边确认（如拉手刹挂空挡等）
+            ISub3JudgeItem* item = m_car->findJudgeItem(Sub3ItemType11Kbtc);
+            if(item)
             {
-                timing = true;
+                Sub3Judge11Kbtc* item11 = dynamic_cast<Sub3Judge11Kbtc*>(item);
+                if(item11 && item11->isConfirm())
+                {
+                    timing = true;
+                }
             }
         }
     }
diff --git a/entry/src/main/cpp/sdk/utility/HBean.h b/entry/src/main/cpp/sdk/utility/HBean.h
index 7440e919..e971f0c0 100644
--- a/entry/src/main/cpp/sdk/utility/HBean.h
+++ b/entry/src/main/cpp/sdk/utility/HBean.h
@@ -283,7 +283,7 @@ JUDGE_C_API BoardType name2BoardType(const char* name);
 #define EnumMakeGpsStatus(declare) \
     declare(gpsStatusINVALID,      "----",         JUDGE_UTF8S("无效(数据异常)")) \
     declare(gpsStatusSINGLE,       "SINGLE",       JUDGE_UTF8S("单点解(收星数过低10米以内)***前置机没发差分改帧数给后置机")) \
-    declare(gpsStatusPSRDIFF,      "PSRDIFF",      JUDGE_UTF8S("伪距解(没见过这种状态3米以内)")) \
+    declare(gpsStatusPSRDIFF,      "PSRDIFF",      JUDGE_UTF8S("伪距解(没见过这种状态3米以内)没收到差分改正数?")) \
     declare(gpsStatusANGLE,        "**ANGLE**",    JUDGE_UTF8S("**角度差分状态**？")) \
     declare(gpsStatusNARROW_INT,   "NARROW_INT",   JUDGE_UTF8S("固定解(正常状态0.02米以内)")) \
     declare(gpsStatusNARROW_FLOAT, "NARROW_FLOAT", JUDGE_UTF8S("浮点解(有遮挡物0.5米以内)"))
diff --git a/entry/src/main/ets/pages/judgeSDK/judge.ts b/entry/src/main/ets/pages/judgeSDK/judge.ts
index b59d21d4..523f5ab2 100644
--- a/entry/src/main/ets/pages/judgeSDK/judge.ts
+++ b/entry/src/main/ets/pages/judgeSDK/judge.ts
@@ -752,11 +752,6 @@ export default class Judge {
     const {isExam} = this;
     const judgeUI = this.judgeUI
     const {projects,carType,kssycs,isDdxk,ddxkTime,projectsCenterObj,ddxkKsxmArr,ddxkKfArr,passingScore} = judgeUI;
-    let sfyk = 0
-    if (judgeUI.mode === 2) {
-      sfyk = 1
-    }
-    console.log("lixiao projects", judgeUI.mode, sfyk)
     const beginInfo = {
       kgid: '012',
       kgxm: decodeURI(examinerName || ''),
@@ -772,7 +767,7 @@ export default class Judge {
       ksyy: '',
       kscx: carType,
       kkcs: Number(kssycs) || 2,
-      sfyk,
+      sfyk: judgeUI.mode === 2 ? 1 : 0,
       ykkkcs: 1,
       wayno: judgeUI.wayno * 1,
       czlx: 0,