diff --git a/src/GUI/gui.py b/src/GUI/gui.py
index fd73dbd..8841847 100644
--- a/src/GUI/gui.py
+++ b/src/GUI/gui.py
@@ -146,7 +146,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.7.0'
+    VERSION = '2.7.1'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
diff --git a/src/GUI/map_layout.py b/src/GUI/map_layout.py
index 72a7915..7485585 100644
--- a/src/GUI/map_layout.py
+++ b/src/GUI/map_layout.py
@@ -377,6 +377,8 @@ class DroneMap:
                 var clickStartPos = null;
                 var lastManualMapMoveAt = 0;
                 var autoCenteringMap = false;
+                const autoFollowPanThresholdRatio = 0.25;
+                var lastAutoFollowPanAt = 0;
 
                 function markManualMapMove() {
                     if (!autoCenteringMap) {
@@ -385,6 +387,42 @@ class DroneMap:
                 }
 
                 map.on('dragstart drag dragend zoomstart zoomend', markManualMapMove);
+
+                function isOutsideAutoFollowWindow(latlng) {
+                    if (!latlng) {
+                        return false;
+                    }
+
+                    var size = map.getSize();
+                    if (!size || size.x <= 0 || size.y <= 0) {
+                        return false;
+                    }
+
+                    var centerPoint = map.latLngToContainerPoint(map.getCenter());
+                    var targetPoint = map.latLngToContainerPoint(latlng);
+                    var dx = Math.abs(targetPoint.x - centerPoint.x);
+                    var dy = Math.abs(targetPoint.y - centerPoint.y);
+
+                    return dx >= size.x * autoFollowPanThresholdRatio ||
+                           dy >= size.y * autoFollowPanThresholdRatio;
+                }
+
+                function autoFollowPanTo(latlng) {
+                    if (!isOutsideAutoFollowWindow(latlng)) {
+                        return;
+                    }
+                    if (Date.now() - lastManualMapMoveAt < 1000) {
+                        return;
+                    }
+                    if (Date.now() - lastAutoFollowPanAt < 250) {
+                        return;
+                    }
+
+                    lastAutoFollowPanAt = Date.now();
+                    autoCenteringMap = true;
+                    map.panTo(latlng, {animate: true});
+                    setTimeout(() => { autoCenteringMap = false; }, 300);
+                }
                 
                 // 路徑標記變量 (跟隨模式用)
                 var routePoints = [];
@@ -738,13 +776,8 @@ class DroneMap:
 
                 setInterval(() => {
                     if (focusedId && markers[focusedId]) {
-                        if (Date.now() - lastManualMapMoveAt < 1000) {
-                            return;
-                        }
                         var latlng = markers[focusedId].getLatLng();
-                        autoCenteringMap = true;
-                        map.panTo(latlng);
-                        setTimeout(() => { autoCenteringMap = false; }, 300);
+                        autoFollowPanTo(latlng);
                     }
                 }, 1000);
 
@@ -760,6 +793,9 @@ class DroneMap:
                             .setLatLng([lat, lon])
                             .setRotationAngle(heading);
                         idLabels[id].setLatLng([lat, lon]);
+                        if (id === focusedId) {
+                            autoFollowPanTo(markers[id].getLatLng());
+                        }
                     } else {
                         initTrajectory(id);
                         addTrajectoryPoint(id, lat, lon);