diff --git a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
index 906e0f45f7..a1c57ea9ae 100644
--- a/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
+++ b/OCH/common/common/src/main/java/com/mogo/och/common/module/manager/autopilotmanager/OCHAdasAbilityManager.java
@@ -113,7 +113,7 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
             Logger.d(TAG,"onAutopilotAbility = " + isAutopilotAbility +
                     " onAutopilotAbility =" +  unableAutopilotReasons.toString());
             if (unableAutopilotReasons.toString().contains(UnableLaunchReason.SourceType.CHASSIS.name())
-                    && unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.BRAKE.name())) {
+                    && unableAutopilotReasons.toString().contains(UnableLaunchReason.UnableType.CHASSIS_BRAKE.name())) {
                 failureCallback.brakeStatusChanged(isAutopilotAbility);
             }
 
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
index 3e6e1fdef3..f140f1cfd7 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
@@ -24,8 +24,11 @@ public class UnableLaunchReason {
         INCOMPATIBLE,//版本不匹配，版本不兼容
         SSM_ERROR,//SSM异常
         FSM_ERROR,//FSM异常
-        BRAKE,//刹车
-        GEAR,//档位
+        CHASSIS_BRAKE,//刹车
+        CHASSIS_GEAR,//档位
+        CHASSIS_THROTTLE,//油门
+        CHASSIS_STEERING,//方向盘
+        CHASSIS_HAZARD_LIGHTS,//危险报警灯
         PARKING_BRAKE,//制动系统，手刹，电子驻车制动系统
         SSM_OFFER,//SSM提供的原因
         FSM_OFFER,//FSM提供的原因
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
index 2c6aecfe1f..28fa9577d5 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
@@ -41,14 +41,14 @@ public class AutopilotAbility230 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
                 }
             }
             //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
index e1a7357b14..2d5c7cbdd2 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
@@ -132,14 +132,14 @@ public class AutopilotAbility250 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
                 }
             }
         }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
index ce62655e88..8abfb52fbb 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
@@ -116,14 +116,14 @@ public class AutopilotAbility350And360 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_BRAKE, AutopilotAbilityManager.REASON_CHASSIS_BRAKE);
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.CHASSIS_GEAR, AutopilotAbilityManager.REASON_CHASSIS_GEAR);
                 }
             }
         }