diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
index c94cda3050..a2576ee2be 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/callback/ITaxiControllerStatusCallback.java
@@ -22,4 +22,8 @@ public interface ITaxiControllerStatusCallback {
 
     //停止启动自动驾驶
     void stopOpenAutopilotNonManual();
+
+    void pauseOpenAutopilotNonManual();
+
+    void resumeOpenAutopilotNonManual();
 }
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
index 0f96c2e571..25c61b6c7f 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiFragment.kt
@@ -283,6 +283,15 @@ class TaxiFragment : BaseTaxiTabFragment<TaxiFragment, TaxiPresenter>(),
         findViewById<View>(R.id.test_bar_route)?.setOnClickListener {
             testRouteInfoUpload()
         }
+        findViewById<View>(R.id.test_brake)?.setOnClickListener {
+            TaxiTaskModel.handleBrakeStatusChange(false)
+        }
+        findViewById<View>(R.id.test_resume_brake)?.setOnClickListener {
+            TaxiTaskModel.handleBrakeStatusChange(true)
+        }
+        findViewById<View>(R.id.test_parallel_driver)?.setOnClickListener {
+            stopAutoStartAutopilot()
+        }
     }
 
     private fun testRouteInfoUpload() {
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
index 98cafa5a97..8b4ef9fda0 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/base/TaxiPresenter.java
@@ -9,6 +9,7 @@ import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.common.module.biz.bean.DriverStatusQueryRespBean;
 import com.mogo.och.common.module.biz.callback.ILoginCallback;
@@ -170,10 +171,28 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
     public void stopOpenAutopilotNonManual() {
         runOnUIThread(() -> {
             mView.startOrStopLoadingAnim(false);
+            mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
             mView.stopAutopilotBlinkAnimation();
         });
     }
 
+    @Override
+    public void pauseOpenAutopilotNonManual() {
+        runOnUIThread(() -> {
+            mView.startOrStopLoadingAnim(false);
+            mView.updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getState());
+            mView.pauseAutopilotBlinkAnimation();
+        });
+    }
+
+    @Override
+    public void resumeOpenAutopilotNonManual() {
+        runOnUIThread(() -> {
+            mView.startOrStopLoadingAnim(true);
+            mView.resumeAutopilotBlinkAnimation();
+        });
+    }
+
 
     @Override
     public void loginSuccess(DriverStatusQueryRespBean data) {
diff --git a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
index 780d1ce758..0e0819ae40 100644
--- a/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
+++ b/OCH/taxi/unmanned-driver/src/main/java/com/mogo/och/taxi/ui/task/TaxiTaskModel.kt
@@ -273,8 +273,12 @@ object TaxiTaskModel {
      * brakeStatus: true: 恢复启动自驾
      * false: 暂停启动自驾
      */
-    private fun handleBrakeStatusChange(brakeStatus: Boolean) {
-
+    fun handleBrakeStatusChange(brakeStatus: Boolean) {
+         if (brakeStatus){
+             mControllerStatusCallback?.resumeOpenAutopilotNonManual()
+         }else{
+             mControllerStatusCallback?.pauseOpenAutopilotNonManual()
+         }
     }
 
     private val mMogoAutopilotStatusListener: IMoGoAutopilotStatusListener =
@@ -1480,10 +1484,15 @@ object TaxiTaskModel {
     }
 
     fun stopAutoStartAutopilot() {
-        mControllerStatusCallback?.stopOpenAutopilotNonManual()
-        mTaxiTaskWithOrderCallbackMap.forEach {
-            val listener = it.value
-            listener.onStopAutopilot()
+        d(
+            TAG, "stopAutoStartAutopilot = ${mCurrentTaskWithOrder?.currentStatus}"
+        )
+        if (QueryCurrentTaskRespBean.isGetTaskType(mCurrentTaskWithOrder)){
+            mControllerStatusCallback?.stopOpenAutopilotNonManual()
+            mTaxiTaskWithOrderCallbackMap.forEach {
+                val listener = it.value
+                listener.onStopAutopilot()
+            }
         }
     }
 
diff --git a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
index 024e110d95..09a3044e16 100644
--- a/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
+++ b/OCH/taxi/unmanned-driver/src/main/res/layout/taxi_debug_order.xml
@@ -51,6 +51,27 @@
                 android:layout_height="wrap_content"
                 android:text="Mock模拟轨迹"
                 android:textSize="12sp" />
+
+            <Button
+                android:id="@+id/test_brake"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock刹车"
+                android:textSize="12sp" />
+
+            <Button
+                android:id="@+id/test_resume_brake"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock松开刹车"
+                android:textSize="12sp" />
+
+            <Button
+                android:id="@+id/test_parallel_driver"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="Mock平行驾驶"
+                android:textSize="12sp" />
         </LinearLayout>
 
         <LinearLayout