diff --git a/src/autonomy/pl/src/pl.cpp b/src/autonomy/pl/src/pl.cpp
index 3f2a7ac..16eb381 100644
--- a/src/autonomy/pl/src/pl.cpp
+++ b/src/autonomy/pl/src/pl.cpp
@@ -301,6 +301,19 @@ void PL_ProcThread()
             }
         }
 
+        // 检查 GPS 点数，确保至少有几个点才开始寻迹
+        if (GpsPointNum < 5)
+        {
+            // 如果点数不够，等待文件更新
+            x = 0.0;
+            y = 1.0;
+            pl_speed = 0;
+            // 不设置 COMPLETED 状态
+            LOG_INFO_THROTTLE(1000, "等待 GPS 路径点加载完成，当前点数: %d", GpsPointNum);
+            usleep(10000);
+            continue;
+        }
+
         g_NavInfo.Latitude_degree = g_rtk.lat;
         g_NavInfo.Longitude_degree = g_rtk.lon;
         g_NavInfo.Yaw_rad = g_rtk.direction;
@@ -324,6 +337,7 @@ void PL_ProcThread()
                           current_head);
         LOG_INFO_THROTTLE(1000, "目标位置: %d  经度: %.6f  纬度: %.6f  朝向: %.1f", des_pos, target_lon, target_lat,
                           target_head);
+        LOG_INFO_THROTTLE(1000, "总点数: %d，当前点数: %d，目标点: %d", GpsPointNum, road_pos, des_pos);
         LOG_INFO_THROTTLE(1000, "############################################################");
 
         // 计算当前定位点与目标点距离
@@ -331,16 +345,6 @@ void PL_ProcThread()
         int nl_within_head = (abs(target_head - current_head) < 30) ? 1 : 0;
 
         nl_within_radius = ((distance <= nl_radius) && nl_within_head) ? 1 : 0;
-        //
-        // cout << "  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  * * *  *" << endl;
-        // cout << endl;
-
-        // cout << "--- -target_head " << target_head << "--- current_head " << current_head << "    " <<
-        // abs(target_head - current_head) << endl; cout << endl; cout << "--- -distance " << distance << "- -nl_radius
-        // " << nl_radius << endl;
-
-        // cout << endl;
-        // cout << "  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  *  * * *  *" << endl;
 
         if (road_pos >= (GpsPointNum - 1))
         {
@@ -367,8 +371,6 @@ void PL_ProcThread()
             task_status = TaskStatus::RUNNING;
         }
 
-        // printf("x_cm:%lf y_cm:%lf speed:%d\n", x, y, pl_speed);
-
         // 避免忙等待，增加延迟让 CPU 能够处理其他任务
         auto now = std::chrono::steady_clock::now();
         if (now > next_time)