diff --git a/app/build.gradle b/app/build.gradle
index 72fb85954d..f7e1fb318a 100644
--- a/app/build.gradle
+++ b/app/build.gradle
@@ -119,6 +119,9 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
+
         }
         // f系列-分体机
         f80x {
@@ -139,6 +142,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         // e系列，采用Launcher方案
         e8xx {
@@ -159,6 +164,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         // 同上
         em4 {
@@ -179,6 +186,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         // e系列-2+32，对标D系列2+32，采用独立app的形式
         em3 {
@@ -199,6 +208,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'true'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         // e系列-1+16，对标D系列1+16，采用独立app形式
         em1 {
@@ -219,6 +230,30 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'false'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'false'
+        }
+        // e系列-1+16，对标D系列1+16，采用独立app形式
+        em2 {
+            applicationId rootProject.ext.android.independentApplicationId
+            dimension "product"
+            buildConfigField 'boolean', 'AI_ASSIST_ACTIVE_STAUTS', 'false'
+            // 车机类型，主要用于区分自研车机还是别人家的车机，自研车机类型为0
+            buildConfigField 'int', 'CAR_MACHINE_TYPE', '0'
+            buildConfigField 'boolean', 'ROAD_EVENT_ANIMATED', 'false'
+            manifestPlaceholders = [AMAP_API_VALUE: rootProject.ext.android.commonIndependentAmapApiValue]
+            // 是否使用高德sdk自定义导航
+            buildConfigField 'boolean', 'USE_CUSTOM_NAVI', 'false'
+            // 是否支持换肤
+            buildConfigField 'boolean', 'IS_SKIN_SUPPORTED', 'true'
+            // 是否支持查询导航目的地车友
+            buildConfigField 'boolean', 'IS_SUPPORTED_SEARCH_DESTINATION_ONLINE_CAR_LIST', 'false'
+            // 是否支持桌面卡片刷新
+            buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
+            // 是否基于地图
+            buildConfigField 'boolean', 'IS_MAP_BASED', 'false'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'false'
         }
         // d系列
         d8xx {
@@ -239,6 +274,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'true'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         // d系列 2 + 32
         d80x {
@@ -259,6 +296,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'true'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         // d系列 1+16 版本
         d82x {
@@ -274,11 +313,13 @@ android {
             // 是否支持换肤
             buildConfigField 'boolean', 'IS_SKIN_SUPPORTED', 'true'
             // 是否支持查询导航目的地车友
-            buildConfigField 'boolean', 'IS_SUPPORTED_SEARCH_DESTINATION_ONLINE_CAR_LIST', 'true'
+            buildConfigField 'boolean', 'IS_SUPPORTED_SEARCH_DESTINATION_ONLINE_CAR_LIST', 'false'
             // 是否支持桌面卡片刷新
-            buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'true'
+            buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
-            buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            buildConfigField 'boolean', 'IS_MAP_BASED', 'false'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'false'
         }
         // 比亚迪
         bydauto {
@@ -299,6 +340,8 @@ android {
             buildConfigField 'boolean', 'IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY', 'false'
             // 是否基于地图
             buildConfigField 'boolean', 'IS_MAP_BASED', 'true'
+            // 是否加载引导模块
+            buildConfigField 'boolean', 'IS_NEED_LOAD_GUIDE_MODULE', 'true'
         }
         qa {
             dimension "env"
@@ -353,7 +396,6 @@ dependencies {
         implementation rootProject.ext.dependencies.mogocommons
         implementation rootProject.ext.dependencies.modulecommon
         implementation rootProject.ext.dependencies.modulesearch
-        implementation rootProject.ext.dependencies.mogomoduleguide
         implementation rootProject.ext.dependencies.mogomoduleauth
         implementation rootProject.ext.dependencies.modulesplash
         implementation rootProject.ext.dependencies.mogoservice
@@ -376,7 +418,6 @@ dependencies {
         implementation project(':modules:mogo-module-share')
         implementation project(':libraries:tanlulib')
         implementation project(':modules:mogo-module-monitor')
-        implementation project(':modules:mogo-module-guide')
         implementation project(':modules:mogo-module-extensions')
         implementation project(':modules:mogo-module-map')
     }
@@ -392,6 +433,7 @@ dependencies {
     apply from: "./functions/tts.gradle"
     apply from: "./functions/backwidget.gradle"
     apply from: "./functions/mediaui.gradle"
+    apply from: "./functions/bizguide.gradle"
 
 //    implementation group: "com.tencent.matrix", name: "matrix-android-lib", version: '0.6.6', changing: true
 //    implementation group: "com.tencent.matrix", name: "matrix-android-commons", version: '0.6.6', changing: true
diff --git a/app/functions/baseservices.gradle b/app/functions/baseservices.gradle
index 3472339744..c085c57a48 100644
--- a/app/functions/baseservices.gradle
+++ b/app/functions/baseservices.gradle
@@ -6,6 +6,7 @@ project.dependencies {
 
         d82xImplementation rootProject.ext.dependencies.mogobaseserviceapk
         em1Implementation rootProject.ext.dependencies.mogobaseserviceapk
+        em2Implementation rootProject.ext.dependencies.mogobaseserviceapk
         d8xxImplementation rootProject.ext.dependencies.mogobaseserviceapk
         d80xImplementation rootProject.ext.dependencies.mogobaseserviceapk
         em4Implementation rootProject.ext.dependencies.mogobaseserviceapk
@@ -19,6 +20,7 @@ project.dependencies {
 
         d82xImplementation project(':foudations:mogo-base-services-apk')
         em1Implementation project(':foudations:mogo-base-services-apk')
+        em2Implementation project(':foudations:mogo-base-services-apk')
         d8xxImplementation project(':foudations:mogo-base-services-apk')
         d80xImplementation project(':foudations:mogo-base-services-apk')
         em4Implementation project(':foudations:mogo-base-services-apk')
diff --git a/app/functions/bizguide.gradle b/app/functions/bizguide.gradle
new file mode 100644
index 0000000000..a06377360a
--- /dev/null
+++ b/app/functions/bizguide.gradle
@@ -0,0 +1,23 @@
+// 引导模块：部分机型暂不需要引导模块
+
+project.dependencies {
+    if (Boolean.valueOf(RELEASE)) {
+        bydautoImplementation rootProject.ext.dependencies.mogomoduleguide
+        d8xxImplementation rootProject.ext.dependencies.mogomoduleguide
+        d80xImplementation rootProject.ext.dependencies.mogomoduleguide
+        em4Implementation rootProject.ext.dependencies.mogomoduleguide
+        e8xxImplementation rootProject.ext.dependencies.mogomoduleguide
+        f8xxImplementation rootProject.ext.dependencies.mogomoduleguide
+        f80xImplementation rootProject.ext.dependencies.mogomoduleguide
+        em3Implementation rootProject.ext.dependencies.mogomoduleguide
+    } else {
+        bydautoImplementation project(':modules:mogo-module-guide')
+        d8xxImplementation project(':modules:mogo-module-guide')
+        d80xImplementation project(':modules:mogo-module-guide')
+        em4Implementation project(':modules:mogo-module-guide')
+        e8xxImplementation project(':modules:mogo-module-guide')
+        f8xxImplementation project(':modules:mogo-module-guide')
+        f80xImplementation project(':modules:mogo-module-guide')
+        em3Implementation project(':modules:mogo-module-guide')
+    }
+}
\ No newline at end of file
diff --git a/app/functions/leftpanel.gradle b/app/functions/leftpanel.gradle
index 3fc7d6bba3..d1ff2a99ea 100644
--- a/app/functions/leftpanel.gradle
+++ b/app/functions/leftpanel.gradle
@@ -2,10 +2,11 @@
 
 project.dependencies {
     if (Boolean.valueOf(RELEASE)) {
-        d82xImplementation rootProject.ext.dependencies.moduleleftpanel
         bydautoImplementation rootProject.ext.dependencies.moduleleftpanel
 
+        d82xImplementation rootProject.ext.dependencies.moduleleftpanelnoop
         em1Implementation rootProject.ext.dependencies.moduleleftpanelnoop
+        em2Implementation rootProject.ext.dependencies.moduleleftpanelnoop
         d8xxImplementation rootProject.ext.dependencies.moduleleftpanelnoop
         d80xImplementation rootProject.ext.dependencies.moduleleftpanelnoop
         em4Implementation rootProject.ext.dependencies.moduleleftpanelnoop
@@ -15,10 +16,11 @@ project.dependencies {
         f80xImplementation rootProject.ext.dependencies.moduleleftpanelnoop
         em3Implementation rootProject.ext.dependencies.moduleleftpanelnoop
     } else {
-        d82xImplementation project(':modules:mogo-module-left-panel')
         bydautoImplementation project(':modules:mogo-module-left-panel')
 
+        d82xImplementation project(':modules:mogo-module-left-panel-noop')
         em1Implementation project(':modules:mogo-module-left-panel-noop')
+        em2Implementation project(':modules:mogo-module-left-panel-noop')
         d8xxImplementation project(':modules:mogo-module-left-panel-noop')
         d80xImplementation project(':modules:mogo-module-left-panel-noop')
         em4Implementation project(':modules:mogo-module-left-panel-noop')
diff --git a/app/functions/skin.gradle b/app/functions/skin.gradle
index e8660ab061..b74c1d170d 100644
--- a/app/functions/skin.gradle
+++ b/app/functions/skin.gradle
@@ -2,8 +2,10 @@ project.dependencies {
     if (Boolean.valueOf(RELEASE)) {
         bydautoImplementation rootProject.ext.dependencies.skinsupportnoop
 
-        d82xImplementation rootProject.ext.dependencies.skinsupportimpl
-        em1Implementation rootProject.ext.dependencies.skinsupportimpl
+        d82xImplementation rootProject.ext.dependencies.skinsupportnoop
+        em1Implementation rootProject.ext.dependencies.skinsupportnoop
+        em2Implementation rootProject.ext.dependencies.skinsupportnoop
+
         em3Implementation rootProject.ext.dependencies.skinsupportimpl
         d8xxImplementation rootProject.ext.dependencies.skinsupportimpl
         d80xImplementation rootProject.ext.dependencies.skinsupportimpl
@@ -19,15 +21,15 @@ project.dependencies {
         d8xxImplementation rootProject.ext.dependencies.skinsupportlight
         d80xImplementation rootProject.ext.dependencies.skinsupportlight
         em3Implementation rootProject.ext.dependencies.skinsupportlight
-        d82xImplementation rootProject.ext.dependencies.skinsupportlight
-        em1Implementation rootProject.ext.dependencies.skinsupportlight
     } else {
 
 
         bydautoImplementation project(':skin:mogo-skin-support-noop')
 
-        d82xImplementation project(':skin:mogo-skin-support-impl')
-        em1Implementation project(':skin:mogo-skin-support-impl')
+        d82xImplementation project(':skin:mogo-skin-support-noop')
+        em1Implementation project(':skin:mogo-skin-support-noop')
+        em2Implementation project(':skin:mogo-skin-support-noop')
+
         em3Implementation project(':skin:mogo-skin-support-impl')
         d8xxImplementation project(':skin:mogo-skin-support-impl')
         d80xImplementation project(':skin:mogo-skin-support-impl')
@@ -42,8 +44,6 @@ project.dependencies {
         e8xxImplementation project(':skin:mogo-skin-light')
         d8xxImplementation project(':skin:mogo-skin-light')
         d80xImplementation project(':skin:mogo-skin-light')
-        d82xImplementation project(':skin:mogo-skin-light')
-        em1Implementation project(':skin:mogo-skin-light')
         em3Implementation project(':skin:mogo-skin-light')
     }
 }
\ No newline at end of file
diff --git a/app/functions/tts.gradle b/app/functions/tts.gradle
index 172da172b0..796ba7d340 100644
--- a/app/functions/tts.gradle
+++ b/app/functions/tts.gradle
@@ -3,6 +3,7 @@ project.dependencies {
         bydautoImplementation rootProject.ext.dependencies.ttsdi
         d82xImplementation rootProject.ext.dependencies.ttszhi
         em1Implementation rootProject.ext.dependencies.ttszhi
+        em2Implementation rootProject.ext.dependencies.ttszhi
         em3Implementation rootProject.ext.dependencies.ttszhi
         d8xxImplementation rootProject.ext.dependencies.ttszhi
         d80xImplementation rootProject.ext.dependencies.ttszhi
@@ -14,6 +15,7 @@ project.dependencies {
         bydautoImplementation project(':tts:tts-di')
         d82xImplementation project(':tts:tts-zhi')
         em1Implementation project(':tts:tts-zhi')
+        em2Implementation project(':tts:tts-zhi')
         em3Implementation project(':tts:tts-zhi')
         d8xxImplementation project(':tts:tts-zhi')
         d80xImplementation project(':tts:tts-zhi')
diff --git a/app/regroup.gradle b/app/regroup.gradle
index 84cd73d13d..35af7ed6d0 100644
--- a/app/regroup.gradle
+++ b/app/regroup.gradle
@@ -2,7 +2,7 @@
 
 afterEvaluate {
 
-    def independent = ["em3", "em1", "d80x", "d82x", "bydauto"]
+    def independent = ["em3", "em1", "d80x", "d82x", "bydauto", "em2"]
     def launcher = ["f80x", "em4", "e8xx"]
 
     it.getTasks().iterator().forEachRemaining {
diff --git a/app/src/main/java/com/mogo/launcher/MogoApplication.java b/app/src/main/java/com/mogo/launcher/MogoApplication.java
index 7cf051ce91..6faee498cb 100644
--- a/app/src/main/java/com/mogo/launcher/MogoApplication.java
+++ b/app/src/main/java/com/mogo/launcher/MogoApplication.java
@@ -34,9 +34,6 @@ import com.squareup.leakcanary.LeakCanary;
 import com.zhidao.boot.persistent.lib.PersistentManager;
 import com.zhidao.mogo.module.left.panel.LeftPanelConst;
 
-import static com.mogo.module.guide.GuideConstant.PATH_GUIDE_FRAGMENT;
-import static com.mogo.module.guide.GuideConstant.PATH_GUIDE_MODULE_NAME;
-
 /**
  * @author congtaowang
  * @since 2019-12-18
@@ -62,8 +59,8 @@ public class MogoApplication extends AbsMogoApplication {
         crashSystem.setDebug( BuildConfig.DEBUG );
         Logger.init( BuildConfig.DEBUG ? LogLevel.VERBOSE : LogLevel.VERBOSE );
 
-        if( DebugConfig.isMapBased() ){
-            MogoModulePaths.addModule( new MogoModule( PATH_GUIDE_FRAGMENT, PATH_GUIDE_MODULE_NAME ) );
+        if( DebugConfig.isNeedLoadGuideModule() ){
+            MogoModulePaths.addModule( new MogoModule( MogoModulePaths.PATH_GUIDE, MogoModulePaths.PATH_GUIDE ) );
         }
         MogoModulePaths.addModule( new MogoModule( MogoServicePaths.PATH_AGREEMENT, AuthorizeConstant.PATH_AGREEMENT_MODULE_NAME ) );
 
@@ -132,6 +129,7 @@ public class MogoApplication extends AbsMogoApplication {
         DebugConfig.setScheduleCalculateNotHomeCompanyDistanceForPush( BuildConfig.IS_SUPPORT_SCHEDULE_CALCULATE_NOT_HOME_COMPANY_DISTANCE_FOR_PUSH );
         DebugConfig.setSupportLauncherCardRefreshStrategy( BuildConfig.IS_SUPPORT_LAUNCHER_CARD_REFRESH_STRATEGY );
         DebugConfig.setMapBased( BuildConfig.IS_MAP_BASED );
+        DebugConfig.setNeedLoadGuideModule( BuildConfig.IS_NEED_LOAD_GUIDE_MODULE );
     }
 
     @Override
diff --git a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
index e5b431ce7b..1c5d3e4307 100644
--- a/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
+++ b/foudations/mogo-commons/src/main/java/com/mogo/commons/debug/DebugConfig.java
@@ -308,4 +308,14 @@ public class DebugConfig {
     public static void setMapBased( boolean isMapBased ) {
         DebugConfig.isMapBased = isMapBased;
     }
+
+    private static boolean isNeedLoadGuideModule = true;
+
+    public static void setNeedLoadGuideModule( boolean isNeedLoadGuideModule ) {
+        DebugConfig.isNeedLoadGuideModule = isNeedLoadGuideModule;
+    }
+
+    public static boolean isNeedLoadGuideModule() {
+        return isNeedLoadGuideModule;
+    }
 }
diff --git a/modules/mogo-module-common/src/main/java/com/mogo/module/common/MogoModulePaths.java b/modules/mogo-module-common/src/main/java/com/mogo/module/common/MogoModulePaths.java
index de44e7c25e..d204367c99 100644
--- a/modules/mogo-module-common/src/main/java/com/mogo/module/common/MogoModulePaths.java
+++ b/modules/mogo-module-common/src/main/java/com/mogo/module/common/MogoModulePaths.java
@@ -41,6 +41,11 @@ public class MogoModulePaths {
      */
     public static final String PATH_MEDIA = "/media/ui";
 
+    /**
+     * 引导页面
+     */
+    public static final String PATH_GUIDE = "/guide/showFragment";
+
     /**
      * 添加卡片模块
      *
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 141b24d974..cecfbc5973 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -7,8 +7,11 @@ import android.content.Intent;
 import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.context.ContextHolderUtil;
+import com.mogo.commons.debug.DebugConfig;
 import com.mogo.map.uicontroller.EnumMapUI;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.module.common.MogoModule;
+import com.mogo.module.common.MogoModulePaths;
 import com.mogo.module.common.map.MyLocationUtil;
 import com.mogo.module.common.utils.CarSeries;
 import com.mogo.service.MogoServicePaths;
@@ -60,7 +63,7 @@ public class MogoADASController implements IMogoADASController {
 
     private List<IMogoAdasDataCallback> adasDataCallbackList = new ArrayList<>();
 
-    private boolean mIsReleased = true;
+    private IAutopolitDataCallBack mAutopolitDataCallBack;
 
     @Override
     public void openADAS() {
@@ -80,8 +83,11 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void showADAS() {
-        if ( !SharedPrefsMgr.getInstance( AbsMogoApplication.getApp() ).getBoolean( getSpGuide(), false ) ) {
-            return;
+
+        if( DebugConfig.isNeedLoadGuideModule() ){
+            if ( !SharedPrefsMgr.getInstance( AbsMogoApplication.getApp() ).getBoolean( getSpGuide(), false ) ) {
+                return;
+            }
         }
         init( AbsMogoApplication.getApp() );
         AutopilotServiceManage.getInstance().registerAutopilotServiceStatusListener( new IAutopilotServiceStatusListener() {
@@ -96,54 +102,58 @@ public class MogoADASController implements IMogoADASController {
             }
         } );
         invokeShowADASOperation();
-        AutopilotServiceManage.getInstance().registerAutopilotDataListener(new IAutopolitDataCallBack() {
-            @Override
-            public void sendMsg(String msg) {
-                Logger.d(TAG, "收到adas数据回调: " + msg);
-                for (IMogoAdasDataCallback callback : adasDataCallbackList) {
-                    try {
-                        callback.onAdasDataCallback(msg);
-                    } catch ( Exception e ) {
-                        Logger.e( TAG, e, "sendMsg" );
+
+        if ( mAutopolitDataCallBack == null ) {
+            mAutopolitDataCallBack = new IAutopolitDataCallBack() {
+                @Override
+                public void sendMsg( String msg ) {
+                    Logger.d( TAG, "收到adas数据回调: " + msg );
+                    for ( IMogoAdasDataCallback callback : adasDataCallbackList ) {
+                        try {
+                            callback.onAdasDataCallback( msg );
+                        } catch ( Exception e ) {
+                            Logger.e( TAG, e, "sendMsg" );
+                        }
                     }
                 }
-            }
 
-            @Override
-            public void cameraEyeDetectResult(String detectResult) {
+                @Override
+                public void cameraEyeDetectResult( String detectResult ) {
 
-            }
-
-            @Override
-            public void selectCarModelUrl(String carStyleUrl) {
-                Logger.d(TAG,"selectCarModelUrl: "+carStyleUrl);
-                needEmphasizeMyLocation = true;
-                // 修改自车图标展示
-                SharedPrefsMgr.getInstance(context).putString("MY_LOCATION_CONFIG", carStyleUrl);
-                MyLocationUtil.setMyLocationIconUrl(context, carStyleUrl);
-            }
-
-            @Override
-            public void requestGetCarModelListInfo() {
-                Logger.d(TAG, "requestGetCarModelListInfo");
-                // 向adas发送车模list
-                AutopilotServiceManage.getInstance().settingCarModelListInfo(SharedPrefsMgr.getInstance(context).getString(
-                        "CAR_MODEL_LIST", "default-value"));
-            }
-
-            @Override
-            public void clickSettingBack() {
-                if (needEmphasizeMyLocation) {
-                    MyLocationUtil.emphasizeMyLocation();
                 }
-                needEmphasizeMyLocation = false;
-            }
 
-            @Override
-            public void showToast(String msg) {
-                UiThreadHandler.post(() -> TipToast.tip(msg));
-            }
-        });
+                @Override
+                public void selectCarModelUrl( String carStyleUrl ) {
+                    Logger.d( TAG, "selectCarModelUrl: " + carStyleUrl );
+                    needEmphasizeMyLocation = true;
+                    // 修改自车图标展示
+                    SharedPrefsMgr.getInstance( context ).putString( "MY_LOCATION_CONFIG", carStyleUrl );
+                    MyLocationUtil.setMyLocationIconUrl( context, carStyleUrl );
+                }
+
+                @Override
+                public void requestGetCarModelListInfo() {
+                    Logger.d( TAG, "requestGetCarModelListInfo" );
+                    // 向adas发送车模list
+                    AutopilotServiceManage.getInstance().settingCarModelListInfo( SharedPrefsMgr.getInstance( context ).getString(
+                            "CAR_MODEL_LIST", "default-value" ) );
+                }
+
+                @Override
+                public void clickSettingBack() {
+                    if ( needEmphasizeMyLocation ) {
+                        MyLocationUtil.emphasizeMyLocation();
+                    }
+                    needEmphasizeMyLocation = false;
+                }
+
+                @Override
+                public void showToast( String msg ) {
+                    UiThreadHandler.post( () -> TipToast.tip( msg ) );
+                }
+            };
+            AutopilotServiceManage.getInstance().registerAutopilotDataListener( mAutopolitDataCallBack );
+        }
     }
 
     private void invokeShowADASOperation() {
@@ -212,7 +222,6 @@ public class MogoADASController implements IMogoADASController {
     public void init( Context context ) {
         AutopilotServiceManage.getInstance().init( context );
         this.context = context;
-        mIsReleased = false;
     }
 
     @Override
@@ -227,7 +236,7 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void changeAdasControlMode( EnumMapUI ui ) {
-        if ( ui == null ) {
+        if ( ui == null || !DebugConfig.isMapBased() ) {
             return;
         }
 
@@ -260,6 +269,9 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public EnumMapUI getCurrentSkinMode() {
+        if ( !DebugConfig.isMapBased() ) {
+            return EnumMapUI.Type_Night;
+        }
         boolean white = AdasConfigApiController.getInstance().isShowUISkinWhiteModel();
         if ( !white ) {
             return EnumMapUI.Type_Night;
@@ -288,7 +300,6 @@ public class MogoADASController implements IMogoADASController {
 
     @Override
     public void release() {
-        mIsReleased = true;
         AutopilotServiceManage.getInstance().release();
     }
 }