diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index 4bdf09e2fa..81c6695621 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -39,7 +39,6 @@ import com.tencent.matrix.trace.config.TraceConfig
 import com.zhjt.mogo_core_function_devatools.apm.*
 import com.mogo.eagle.core.function.api.upgrade.*
 import com.mogo.weak.network.SdtManager
-import com.zhjt.mogo.adas.data.bean.ReceivedAck.Status
 import com.zhjt.mogo_core_function_devatools.adas.PowerOffManager
 import com.zhjt.mogo_core_function_devatools.badcase.BadCaseManager
 import com.zhjt.mogo_core_function_devatools.badcase.consts.BadCaseConfig
@@ -60,6 +59,7 @@ import com.zhjt.mogo_core_function_devatools.perf.MoGoCpuUsageProviderImpl
 import com.zhjt.mogo_core_function_devatools.report.IPCReportManager.Companion.iPCReportManager
 import com.zhjt.mogo_core_function_devatools.scene.SceneManager.Companion.sceneManager
 import com.zhjt.mogo_core_function_devatools.status.StatusManager
+import com.zhjt.mogo_core_function_devatools.status.entity.IAutopilotPreLaunchStatus
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteDownloadStatus
 import com.zhjt.mogo_core_function_devatools.status.ui.AutoPilotLaunchBeforeView
 import com.zhjt.mogo_core_function_devatools.strict.*
@@ -71,7 +71,6 @@ import com.zhjt.mogo_core_function_devatools.weaknetwork.WeakNetworkStrategy
 import com.zhjt.service.chain.ChainLog
 import java.lang.ref.WeakReference
 import java.util.concurrent.ConcurrentHashMap
-import java.util.concurrent.CopyOnWriteArrayList
 
 @Route(path = MogoServicePaths.PATH_DEVA_TOOLS)
 class DevaToolsProvider : IDevaToolsProvider {
@@ -102,14 +101,28 @@ class DevaToolsProvider : IDevaToolsProvider {
     private var container: WeakReference<ViewGroup>? = null
 
     private val downloadCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Int) -> Unit>>() }
+    private val startAutopilotCallbacks by lazy { ConcurrentHashMap<String, ArrayList<(Boolean) -> Unit>>() }
 
     private val statusListener by lazy {
         object : StatusManager.IStatusListener {
             override fun onStatusChanged(data: List<com.zhjt.mogo_core_function_devatools.status.entity.Status>, hasException: Boolean) {
-                data.filterIsInstance(RouteDownloadStatus::class.java).forEach { s ->
-                    downloadCallbacks.values.flatten().forEach { listener ->
-                        listener.invoke(s.state.ordinal)
+                var hasExceptionForAutopilotBefore = false
+                data.forEach { s ->
+                    if (s is RouteDownloadStatus) {
+                        runCatching {
+                            downloadCallbacks.values.flatten().forEach { listener ->
+                                listener.invoke(s.state.ordinal)
+                            }
+                        }
                     }
+                    if (s is IAutopilotPreLaunchStatus && s.isException()) {
+                        hasExceptionForAutopilotBefore = true
+                        runCatching { startAutopilotCallbacks.values.flatten().forEach { it.invoke(false) } }
+                        return@forEach
+                    }
+                }
+                if (!hasExceptionForAutopilotBefore) {
+                    runCatching { startAutopilotCallbacks.values.flatten().forEach { it.invoke(true) } }
                 }
             }
         }
@@ -518,4 +531,12 @@ class DevaToolsProvider : IDevaToolsProvider {
     override fun unRegisterRouteDownloadListener(tag: String) {
         downloadCallbacks.remove(tag)
     }
+
+    override fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit) {
+        startAutopilotCallbacks.getOrPut(tag) { ArrayList() } += block
+    }
+
+    override fun unRegisterStartAutopilotStateListener(tag: String) {
+        startAutopilotCallbacks.remove(tag)
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
index 9029fbfd80..b30e8d8f4a 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/entity/Status.kt
@@ -1,5 +1,7 @@
 package com.zhjt.mogo_core_function_devatools.status.entity
 
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteFailed
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteNone
 import com.zhjt.mogo_core_function_devatools.status.entity.RouteState.RouteStart
@@ -311,7 +313,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
 
 
     override fun isException(): Boolean {
-        return isError
+        return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
     }
 
     override fun equals(other: Any?): Boolean {
@@ -339,7 +341,7 @@ data class SteerStatus(val angle: Float, var isError: Boolean = false): Status()
 data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
-        return isError
+        return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
     }
 
     override fun equals(other: Any?): Boolean {
@@ -369,7 +371,7 @@ data class AcceleratorStatus(val angle: Float, var isError: Boolean = false): St
 data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
-        return isError
+        return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
     }
 
     override fun equals(other: Any?): Boolean {
@@ -398,7 +400,7 @@ data class BrakeStatus(val angle: Float, var isError: Boolean = false): Status()
 data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
-        return isError
+        return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
     }
 
     override fun equals(other: Any?): Boolean {
@@ -426,7 +428,7 @@ data class DoubleFlashStatus(val type: Int, var isError: Boolean = false): Statu
 data class GearStatus(val value: Int, var isError: Boolean = false): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
-        return isError
+        return isError && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
     }
 
     override fun equals(other: Any?): Boolean {
@@ -462,7 +464,7 @@ enum class RouteState {
 data class RouteDownloadStatus(val lineId: Long = -1, val state: RouteState = RouteNone): Status(), IAutopilotPreLaunchStatus {
 
     override fun isException(): Boolean {
-        return state == RouteStart || state == RouteFailed
+        return (state == RouteStart || state == RouteFailed) && CallerAutoPilotStatusListenerManager.getAutoPilotStatusInfo().state != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING
     }
 
     override fun equals(other: Any?): Boolean {
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
index 2039e57d4c..6553a4f88b 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/devatools/IDevaToolsProvider.kt
@@ -299,4 +299,8 @@ interface IDevaToolsProvider : IProvider {
     fun registerRouteDownloadListener(tag: String, block:(state: Int) -> Unit)
 
     fun unRegisterRouteDownloadListener(tag: String)
+
+    fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit)
+
+    fun unRegisterStartAutopilotStateListener(tag: String)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
index d1c91474d8..191186628b 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutoPilotControlManager.kt
@@ -70,6 +70,21 @@ object CallerAutoPilotControlManager {
      * @param controlParameters 开启自动驾驶的控制参数
      */
     fun startAutoPilot(controlParameters: AutopilotControlParameters?) {
+        if (controlParameters == null) {
+            //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
+            return
+        }
+        providerApi?.startAutoPilot(controlParameters)
+        // 更新记录在全局的控制参数
+        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
+    }
+
+    /**
+     * 启自驾前，是否要拦截
+     * @param isShowTip true: 展示Toast+语音提示; false:不展示Toast+语音提示
+     *
+     */
+    fun isCanStartAutopilot(isShowTip: Boolean): Boolean {
         /**
          * 方向盘： 1<<0
          * 油门 :  1<<1
@@ -80,49 +95,52 @@ object CallerAutoPilotControlManager {
          */
         val exceptionValue = CallerDevaToolsManager.getExceptionStatusBeforeLaunchAutopilot()
         if (exceptionValue != 0) {
-            val sb = StringBuilder("请检查车辆")
-            if ((exceptionValue and 1) != 0) {
-                sb.append("方向盘$")
-            }
-            if (((exceptionValue and (1 shl 1)) != 0)) {
-                sb.append("油门$")
-            }
-            if ((exceptionValue and (1 shl 2)) != 0) {
-                sb.append("刹车$")
-            }
-            if ((exceptionValue and (1 shl 3)) != 0) {
-                sb.append("双闪$")
-            }
-            if ((exceptionValue and (1 shl 4)) != 0) {
-                sb.append("档位$")
-            }
-            if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
-                sb.setLength(0)
-                sb.append("轨迹未就绪，请稍后重试")
-            }
-            val voiceText = sb.toString().let { str ->
-                val count = str.count { it == '$' }
-                if (count == 1) {
-                    str.replace("$", "")
-                } else {
-                    str.removeSuffix("$").replace("$", "、")
+            if (isShowTip) {
+                val sb = StringBuilder("请检查车辆")
+                if ((exceptionValue and 1) != 0) {
+                    sb.append("方向盘$")
+                }
+                if (((exceptionValue and (1 shl 1)) != 0)) {
+                    sb.append("油门$")
+                }
+                if ((exceptionValue and (1 shl 2)) != 0) {
+                    sb.append("刹车$")
+                }
+                if ((exceptionValue and (1 shl 3)) != 0) {
+                    sb.append("双闪$")
+                }
+                if ((exceptionValue and (1 shl 4)) != 0) {
+                    sb.append("档位$")
+                }
+                if ((exceptionValue and (1 shl 5)) != 0 || ((exceptionValue and (1 shl 6)) != 0)) {
+                    sb.setLength(0)
+                    sb.append("轨迹未就绪，请稍后重试")
+                }
+                val voiceText = sb.toString().let { str ->
+                    val count = str.count { it == '$' }
+                    if (count == 1) {
+                        str.replace("$", "")
+                    } else {
+                        str.removeSuffix("$").replace("$", "、")
+                    }
+                }
+                Logger.d(TAG, "voiceText: $voiceText")
+                ToastUtils.showShort(voiceText)
+                AppStateManager.currentActivity()?.also {
+                    AIAssist.getInstance(it).speakTTSVoice(voiceText)
                 }
             }
-            Logger.d(TAG, "voiceText: $voiceText")
-            ToastUtils.showShort(voiceText)
-            AppStateManager.currentActivity()?.also {
-                AIAssist.getInstance(it).speakTTSVoice(voiceText)
-            }
-            return
+            return false
         }
+        return true
+    }
 
-        if (controlParameters == null) {
-            //LogUtils.eTag(TAG, "自动驾驶控制参数异常，请检查参数信息")
-            return
-        }
-        providerApi?.startAutoPilot(controlParameters)
-        // 更新记录在全局的控制参数
-        CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(controlParameters)
+    fun addStartAutopilotStateListener(tag: String, listener: (Boolean) -> Unit) {
+        CallerDevaToolsManager.registerStartAutopilotStateListener(tag, listener)
+    }
+
+    fun removeStartAutopilotStateListener(tag: String) {
+        CallerDevaToolsManager.unRegisterStartAutopilotStateListener(tag)
     }
 
     /**
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
index 7167789343..6d82bdb6b6 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/devatools/CallerDevaToolsManager.kt
@@ -367,4 +367,12 @@ object CallerDevaToolsManager {
     fun getExceptionStatusBeforeLaunchAutopilot(): Int {
         return devaToolsProviderApi?.getExceptionStatusBeforeLaunchAutopilot() ?: 0
     }
+
+    fun registerStartAutopilotStateListener(tag: String, block: (isCanStartAutopilot: Boolean) -> Unit) {
+        devaToolsProviderApi?.registerStartAutopilotStateListener(tag, block)
+    }
+
+    fun unRegisterStartAutopilotStateListener(tag: String) {
+        devaToolsProviderApi?.unRegisterStartAutopilotStateListener(tag)
+    }
 }
\ No newline at end of file