diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
index e90d15aea1..20faa41b73 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/fragment/SweeperFragment.kt
@@ -10,6 +10,8 @@ import chassis.ChassisStatesOuterClass
 import com.amap.api.maps.model.LatLng
 import com.mogo.commons.AbsMogoApplication
 import com.mogo.eagle.core.data.map.MogoLocation
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger.d
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.mogo.eagle.core.utilcode.util.ClickUtils
@@ -68,7 +70,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
         sweeper_current_task_view.readyTaskBtn.setOnClickListener {
             if (ClickUtils.isFastClick()) {//防止重复点击
                 if (mSubTaskType.code == SubTaskTypeEnum.MANUAL_DRIVING_SUBTYPE.code) {
-                    manualDriving()
+                    manualDriving(false)
                 } else {
                     //开始执行任务
                     mSubInfo?.apply {
@@ -293,7 +295,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     }
                     sweeper_current_task_view.setCurrentData(mCurrentSubPosition)
                 } else {
-                    manualDriving()
+                    manualDriving(true)
                 }
             }
             TaskStatusEnum.JUMP_OVER_SUBTASK.code -> { //子任务跳过
@@ -310,7 +312,7 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
                     }
                     sweeper_current_task_view.setCurrentData(mCurrentSubPosition)
                 } else {
-                    manualDriving()
+                    manualDriving(true)
                 }
             }
             TaskStatusEnum.START_SUBTASK.code -> { //子任务开始
@@ -404,7 +406,12 @@ class SweeperFragment : BaseSweeperTabFragment<SweeperFragment?, SweeperPresente
     /**
      * 人工驾驶子任务
      */
-    private fun manualDriving() {
+    private fun manualDriving(isCancelAutoPoilot: Boolean) {
+        if (isCancelAutoPoilot) { // 人工子任务 先取消自动驾驶
+            CallerAutoPilotStatusListenerManager.updateAutopilotControlParameters(null)
+            CallerAutoPilotControlManager.cancelAutoPilot()
+        }
+
         mSubInfo?.apply {
             val builder = SweeperManualDrivingDialog.Builder()
             val endConfirmDialog = builder