diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
index 3e05f310ca..4a9e08e7a2 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/fragment/SweeperFragment.kt
@@ -36,6 +36,7 @@ import com.mogo.och.sweepercloud.view.SweeperCurrentTaskInfoView
 import com.zhjt.mogo.adas.data.sweeper.SweeperCloudTask
 import com.zhjt.mogo.adas.data.sweeper.bootable.SweeperBootable
 import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon
+import com.zhjt.mogo.adas.data.sweeper.common.SweeperCommon.TaskStatus
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.SubTaskInfo
 import com.zhjt.mogo.adas.data.sweeper.task.SweeperTask.TaskModel
@@ -143,7 +144,10 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
 
     override fun setAutoState(state: Int) {
         super.setAutoState(state)
-        getCurrentTaskView().updateStartAutoPilotBtnState(state)
+        getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
+            state == STATUS_AUTOPILOT_ENABLE,
+            mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
+            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING)
     }
 
     fun onSweeperFutianCleanSystemState(cleanSystemState: ChassisStatesOuterClass.SweeperFuTianTaskSystemStates) {
@@ -216,6 +220,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             addTaskData()
             mPresenter?.isHasTaskInfo(true)
 
+            //更新自动驾驶按钮样式
+            updateStartAutoPilotBtnByAutoPilotState()
+
             //恢复高精地图上的Marker
             mCurrentRunningSubTaskInfo?.also {
                 addHDMapMarkerBySubTask(it)
@@ -227,6 +234,9 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
             addTaskData()
             mPresenter?.isHasTaskInfo(true)
 
+            //更新自动驾驶按钮样式
+            updateStartAutoPilotBtnByAutoPilotState()
+
             if (taskInfo.isPop) {
                 showReceivedBigTaskDialog()
             } else {
@@ -243,6 +253,14 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         }
     }
 
+    private fun updateStartAutoPilotBtnByAutoPilotState() {
+        getCurrentTaskView().updateStartAutoPilotBtnByAutoPilotState(
+            mPresenter?.autopilotState == STATUS_AUTOPILOT_ENABLE,
+            mCurrentRunningSubTaskInfo?.taskModel == TaskModel.AUTO,
+            mCurrentRunningSubTaskInfo?.taskStatus == TaskStatus.RUNNING
+        )
+    }
+
     /**
      * 根据云端同步的子任务状态，更新列表中任务状态
      */
diff --git a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
index 09af70c1de..3295ab76a0 100644
--- a/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
+++ b/OCH/sweeper/sweeper-cloud/src/main/java/com/mogo/och/sweepercloud/view/SweeperCurrentTaskInfoView.kt
@@ -64,7 +64,7 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
     /**
      * 根据当前自动驾驶状态，更新【请求进入自动驾驶】按钮样式
      */
-    fun updateStartAutoPilotBtnState(autopilotState: Int) {
+    fun updateStartAutoPilotBtnByAutoPilotState(autopilotState: Int) {
         when (autopilotState) {
             //不可自动驾驶
             IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {
@@ -90,102 +90,119 @@ class SweeperCurrentTaskInfoView : ConstraintLayout {
     }
 
     /**
-     * 设置当前任务数据
+     * 根据 当前自动驾驶状态-是否是自动驾驶子任务-子任务是否在运行，更新【请求进入自动驾驶】按钮样式
      */
-    @SuppressLint("SetTextI18n")
-    fun setData(
-        taskInfo: TaskInfo?,
-        currentPosition: Int = -1
+    fun updateStartAutoPilotBtnByAutoPilotState(
+        isManualAutoPilotState: Boolean,
+        isAutoSubTask: Boolean,
+        isSubTaskRunning: Boolean
     ) {
-        // 更新 任务名称、任务时间
-        taskInfo?.apply {
-            this@SweeperCurrentTaskInfoView.listTask = subListList
-            tvTaskName.text = taskName
-            val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
-            val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
-            tvTaskTime.text =
-                "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
-                    DateTimeUtil.formatCalendarToString(
-                        calendarEnd,
-                        DateTimeUtil.HH_mm
-                    )
-                }"
-        }
-        // 更新大任务状态
-        updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START)
-        // 更新子任务列表
-        listTask?.let {
-            //特殊处理当前暂无执行中任务的情况
-            if (currentPosition == -1) {
-                setCurrentData(currentPosition + 1)
-            } else {
-                setCurrentData(currentPosition)
-            }
+        if (isManualAutoPilotState && isAutoSubTask && isSubTaskRunning) {
+            tvStartAuto.setTextColor(Color.parseColor("#FFFFFFFF"))
+            tvStartAuto.isSelected = true
+        } else {
+            tvStartAuto.setTextColor(Color.parseColor("#66FFFFFF"))
+            tvStartAuto.isSelected = false
         }
     }
 
-    /**
-     * 设置任务的状态
-     */
-    private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) {
-        when (taskStatus) {
-            SweeperCommon.TaskStatus.RUNNING -> {
-                tvTaskState.text = "任务执行中"
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
+        /**
+         * 设置当前任务数据
+         */
+        @SuppressLint("SetTextI18n")
+        fun setData(
+            taskInfo: TaskInfo?,
+            currentPosition: Int = -1
+        ) {
+            // 更新 任务名称、任务时间
+            taskInfo?.apply {
+                this@SweeperCurrentTaskInfoView.listTask = subListList
+                tvTaskName.text = taskName
+                val calendarStart = DateTimeUtil.formatLongToCalendar(taskStartTime)
+                val calendarEnd = DateTimeUtil.formatLongToCalendar(taskEndTime)
+                tvTaskTime.text =
+                    "${DateTimeUtil.formatCalendarToString(calendarStart, DateTimeUtil.HH_mm)}-${
+                        DateTimeUtil.formatCalendarToString(
+                            calendarEnd,
+                            DateTimeUtil.HH_mm
+                        )
+                    }"
             }
-
-            SweeperCommon.TaskStatus.SUSPENDED -> {
-                tvTaskState.text = "任务已暂停"
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
-            }
-
-            else -> {
-                tvTaskState.text = "任务待开始"
-                tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
-            }
-        }
-    }
-
-    /**
-     * 填充数据
-     */
-    private fun setCurrentData(currentPosition: Int) {
-        listTask?.let {
-            if (it.size == 1) {
-                preSubTask.setData(it[currentPosition], isLastTask = true)
-                currentSubTask.visibility = View.INVISIBLE
-                lastSubTask.visibility = View.INVISIBLE
-            } else if (it.size == 2) {
-                if (currentPosition == 0) {
-                    preSubTask.setData(it[currentPosition])
-                    currentSubTask.setData(it[1], isLastTask = true)
+            // 更新大任务状态
+            updateTaskStateText(taskInfo?.taskStatus ?: TaskStatus.TO_START)
+            // 更新子任务列表
+            listTask?.let {
+                //特殊处理当前暂无执行中任务的情况
+                if (currentPosition == -1) {
+                    setCurrentData(currentPosition + 1)
                 } else {
-                    preSubTask.setData(it[currentPosition - 1])
-                    currentSubTask.setData(it[currentPosition], isLastTask = true)
-                }
-                preSubTask.visibility = View.VISIBLE
-                currentSubTask.visibility = View.VISIBLE
-                lastSubTask.visibility = View.GONE
-            } else {
-                preSubTask.visibility = View.VISIBLE
-                currentSubTask.visibility = View.VISIBLE
-                lastSubTask.visibility = View.VISIBLE
-                //当前正在执行的任务是第一个子任务
-                if (currentPosition == 0) {
-                    preSubTask.setData(it[currentPosition])
-                    currentSubTask.setData(it[1])
-                    lastSubTask.setData(it[2], isLastTask = true)
-                    //当前正在执行的任务是最后一个子任务
-                } else if (currentPosition == it.size - 1) {
-                    preSubTask.setData(it[currentPosition - 2])
-                    currentSubTask.setData(it[currentPosition - 1])
-                    lastSubTask.setData(it[currentPosition], isLastTask = true)
-                } else {
-                    preSubTask.setData(it[currentPosition - 1])
-                    currentSubTask.setData(it[currentPosition])
-                    lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
+                    setCurrentData(currentPosition)
                 }
             }
         }
-    }
-}
\ No newline at end of file
+
+        /**
+         * 设置任务的状态
+         */
+        private fun updateTaskStateText(taskStatus: SweeperCommon.TaskStatus) {
+            when (taskStatus) {
+                SweeperCommon.TaskStatus.RUNNING -> {
+                    tvTaskState.text = "任务执行中"
+                    tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_working)
+                }
+
+                SweeperCommon.TaskStatus.SUSPENDED -> {
+                    tvTaskState.text = "任务已暂停"
+                    tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
+                }
+
+                else -> {
+                    tvTaskState.text = "任务待开始"
+                    tvTaskState.setBackgroundResource(R.drawable.bg_shape_task_state_not_ready)
+                }
+            }
+        }
+
+        /**
+         * 填充数据
+         */
+        private fun setCurrentData(currentPosition: Int) {
+            listTask?.let {
+                if (it.size == 1) {
+                    preSubTask.setData(it[currentPosition], isLastTask = true)
+                    currentSubTask.visibility = View.INVISIBLE
+                    lastSubTask.visibility = View.INVISIBLE
+                } else if (it.size == 2) {
+                    if (currentPosition == 0) {
+                        preSubTask.setData(it[currentPosition])
+                        currentSubTask.setData(it[1], isLastTask = true)
+                    } else {
+                        preSubTask.setData(it[currentPosition - 1])
+                        currentSubTask.setData(it[currentPosition], isLastTask = true)
+                    }
+                    preSubTask.visibility = View.VISIBLE
+                    currentSubTask.visibility = View.VISIBLE
+                    lastSubTask.visibility = View.GONE
+                } else {
+                    preSubTask.visibility = View.VISIBLE
+                    currentSubTask.visibility = View.VISIBLE
+                    lastSubTask.visibility = View.VISIBLE
+                    //当前正在执行的任务是第一个子任务
+                    if (currentPosition == 0) {
+                        preSubTask.setData(it[currentPosition])
+                        currentSubTask.setData(it[1])
+                        lastSubTask.setData(it[2], isLastTask = true)
+                        //当前正在执行的任务是最后一个子任务
+                    } else if (currentPosition == it.size - 1) {
+                        preSubTask.setData(it[currentPosition - 2])
+                        currentSubTask.setData(it[currentPosition - 1])
+                        lastSubTask.setData(it[currentPosition], isLastTask = true)
+                    } else {
+                        preSubTask.setData(it[currentPosition - 1])
+                        currentSubTask.setData(it[currentPosition])
+                        lastSubTask.setData(it[currentPosition + 1], isLastTask = true)
+                    }
+                }
+            }
+        }
+    }
\ No newline at end of file