diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index 3038e2baa5..1c76e0431c 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -127,12 +127,15 @@ class MoGoAdasListenerImpl : OnAdasListener {
             MogoApisHandler.getInstance().apis.adasControllerApi.lastLon = gnssInfo.longitude
             MogoApisHandler.getInstance().apis.adasControllerApi.satelliteTime =
                 java.lang.Double.valueOf(gnssInfo.satelliteTime).toLong()
+
             if (1 == FunctionBuildConfig.gpsProvider) {
                 CallerMapUIServiceManager.getMapUIController()?.syncLocation2Map(
                     gnssInfo
                 )
                 SnapshotLocationDataCenter.getInstance().syncAdasLocationInfo(gnssInfo)
             }
+            //根据加速度判断 是否刹车
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotBrakeLightByAcceleration(gnssInfo.acceleration)
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
index f55d0ebf11..452122175f 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -1,7 +1,5 @@
 package com.mogo.eagle.core.function.autopilot.adapter;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_DEVA;
-
 import android.text.TextUtils;
 import android.util.Log;
 
@@ -17,8 +15,6 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
-import com.zhidao.support.adas.high.OnAdasConnectStatusListener;
-import com.zhidao.support.adas.high.common.Constants;
 
 import org.jetbrains.annotations.NotNull;
 
@@ -28,10 +24,12 @@ import chassis.Chassis;
 import mogo.telematics.pad.MessagePad;
 import record_cache.RecordPanelOuterClass;
 
+import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_DEVA;
+
 public class MoGoHandAdasMsgManager implements
         IMoGoAutopilotIdentifyListener,
         IMoGoAutopilotVehicleStateListener,
-        IMoGoAutopilotCarConfigListener {
+        IMoGoAutopilotCarConfigListener{
 
     private final String TAG = "AdasEventManager";
 
@@ -58,6 +56,8 @@ public class MoGoHandAdasMsgManager implements
     private boolean isOnTurnLight = false;
     private int turnLight = 0;
     private volatile boolean isShowTurnLight = false;
+    private int brakeLight = -1;
+
 
     private int setTurnLightState(int turn_light) {
         if (turn_light == 0) {
@@ -98,11 +98,10 @@ public class MoGoHandAdasMsgManager implements
 
     @Override
     public void onAutopilotBrakeLightData(boolean brakeLight) {
-        //设置刹车信息
-        CallerLogger.INSTANCE.d(M_DEVA + TAG, "onAutopilotBrakeLightData -- brakeLight = $brakeLight ---$isShowTurnLight");
-        if (!isShowTurnLight) {
-            CallerHmiManager.INSTANCE.showBrakeLight(brakeLight ? 1 : 0);
-        }
+//        CallerLogger.INSTANCE.d(M_DEVA + TAG, "onAutopilotBrakeLightData -- brakeLight = $brakeLight ---$isShowTurnLight");
+//        if (!isShowTurnLight) {
+//            CallerHmiManager.INSTANCE.showBrakeLight(brakeLight ? 1 : 0);
+//        }
     }
 
     @Override
@@ -130,15 +129,30 @@ public class MoGoHandAdasMsgManager implements
 
     }
 
-    private volatile boolean isIPCConnect = false;
-
     @Override
     public void onAutopilotCarConfig(@NotNull MessagePad.CarConfigResp carConfigResp) {
         if (carConfigResp != null && !TextUtils.isEmpty(carConfigResp.getMacAddress())) {
-//            Log.d("liyz", " carConfigResp.getMacAddress() = " + carConfigResp.getMacAddress());
-//            CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.getMacAddress());
+            CallerLogger.INSTANCE.d(M_DEVA + TAG, " carConfigResp.getMacAddress() = " + carConfigResp.getMacAddress() + "--mac = " + carConfigResp.getMacAddress().replaceAll(".{2}(?=.)", "$0:"));
+            CallerBindingcarManager.getBindingcarProvider().getBindingcarInfo(carConfigResp.getMacAddress().replaceAll(".{2}(?=.)", "$0:"));
         }
     }
 
+    /**
+     * 根据加速度判断是否刹车
+     * @param acceleration
+     */
+    @Override
+    public void onAutopilotBrakeLightByAcceleration(double acceleration) {
+        //设置刹车信息
+        if (acceleration < -2.5) {
+            brakeLight = 1;
+        } else {
+            brakeLight = 0;
+        }
+        CallerLogger.INSTANCE.d(M_DEVA + TAG, "onAutopilotBrakeLightByAcceleration -- acceleration = " + acceleration);
+        if (!isShowTurnLight) {
+            CallerHmiManager.INSTANCE.showBrakeLight(brakeLight);
+        }
 
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
index 997b493866..b529bd9228 100644
--- a/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
+++ b/core/function-impl/mogo-core-function-bindingcar/src/main/java/com/mogo/eagle/core/function/bindingcar/BindingcarProvider.java
@@ -55,7 +55,6 @@ public class BindingcarProvider implements IMoGoBindingcarProvider {
 
     @Override
     public void modifyCarInfo(BindingcarCallBack callBack) {
-        Log.d("liyz", "BindingcarProvider modifyCarInfo mAddress = " + mAddress);
         BindingcarNetWorkManager.getInstance().modifyBindingcar(mAddress, callBack);
     }
 
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
index d14569289f..ac5f0ae827 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -18,4 +18,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * @param brakeLight
      */
     fun onAutopilotBrakeLightData(brakeLight: Boolean)
+
+    /**
+     * 车辆刹车灯 根据加速度
+     */
+    fun onAutopilotBrakeLightByAcceleration(acceleration: Double)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
index 07d0f97a18..7be50470bd 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
@@ -77,5 +77,16 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * 车辆刹车根据加速度判断
+     */
+    @Synchronized
+    fun invokeAutopilotBrakeLightByAcceleration(accrleration: Double) {
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach {
+            val listener = it.value
+            listener.onAutopilotBrakeLightByAcceleration(accrleration)
+        }
+    }
+
 
 }
\ No newline at end of file