diff --git a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 8e4970dc78..de819da7c8 100644
--- a/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/taxi/driver/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -36,6 +36,7 @@ import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxBubbleView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxButtonView;
 import com.mogo.eagle.core.function.hmi.ui.msgbox.DriverMsgBoxListView;
 import com.mogo.eagle.core.function.hmi.ui.setting.SeatPressureSettingView;
+import com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverAutopilotView;
 import com.mogo.eagle.core.function.view.MapBizView;
 import com.mogo.eagle.core.function.smp.view.SmallMapView;
 import com.mogo.eagle.core.function.view.MapRoamView;
@@ -90,6 +91,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
     private OverMapDialog overMapDialog;
 
     protected LinearLayout mSeatPressureBtn;//座椅压力
+    protected TakeOverAutopilotView takeOverAutopilotView;
     protected SeatPressureSettingView seatPressureSettingView;
 
     private final Handler mHandler = new Handler(Looper.getMainLooper());
@@ -224,6 +226,9 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             }
         });
         CallerSeatPressureManager.INSTANCE.addListener(TAG,this);
+
+        TakeOverAutopilotView takeOverAutopilotView = new TakeOverAutopilotView(getActivity());
+        takeOverAutopilotView.showFloatWindow();
     }
 
     @Override
@@ -246,6 +251,7 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
         super.onPause();
         mapBizView.onPause();
         smallMapView.onPause();
+        takeOverAutopilotView.hideFloatWindow();
     }
 
     protected void onChangeOperationStatus() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt
index 567ad641b7..9bc19b04ba 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverAutopilotView.kt
@@ -1,10 +1,19 @@
 package com.mogo.eagle.core.function.hmi.ui.vehicle
 
+import android.annotation.SuppressLint
+import android.app.Activity
 import android.content.Context
+import android.graphics.PixelFormat
 import android.util.AttributeSet
+import android.util.DisplayMetrics
 import android.util.Log
+import android.view.Gravity
 import android.view.LayoutInflater
+import android.view.MotionEvent
 import android.view.View
+import android.view.WindowManager
+import android.widget.Button
+import android.widget.ToggleButton
 import androidx.constraintlayout.widget.ConstraintLayout
 import com.mogo.eagle.core.data.enums.EventTypeEnumNew
 import com.mogo.eagle.core.data.msgbox.AutopilotMsg
@@ -19,57 +28,97 @@ import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
 import com.mogo.eagle.core.function.call.msgbox.CallerMsgBoxManager
 import com.mogo.eagle.core.function.call.setting.CallerTakeOverManager
 import com.mogo.eagle.core.function.hmi.R
+import com.mogo.eagle.core.utilcode.util.BarUtils
 import com.mogo.eagle.core.utilcode.util.SPUtils
 import com.mogo.eagle.core.utilcode.util.SoundUtils
 import kotlinx.android.synthetic.main.view_remote_take_over_autopilot.view.*
 import kotlinx.android.synthetic.main.view_sop_setting.view.*
+import kotlin.math.absoluteValue
 
-class TakeOverAutopilotView @JvmOverloads constructor(
-    context: Context, attrs: AttributeSet? = null
-) : ConstraintLayout(context, attrs) {
+class TakeOverAutopilotView constructor(activity: Activity):View.OnTouchListener {
 
     private var takeOverRequest: Boolean = false
+    private var mActivity: Activity = activity
+    private lateinit var mFloatLayout: View
+    private var mWindowParams: WindowManager.LayoutParams? = null
+    private var mWindowManager: WindowManager? = null
+
+    private var mInViewX = 0f
+    private var mInViewY = 0f
+    private var mInScreenX = 0f
+    private var mInScreenY = 0f
+
+    private lateinit var btnManualControl: Button
+    private lateinit var btnOverTake: Button
+    private lateinit var btnLineToLeft: Button
+    private lateinit var btnLineToRight: Button
+    private lateinit var btnPullOver: Button
+    private lateinit var btnEmergencyStop: Button
+    private lateinit var btnTakeOverRequest: Button
+    private lateinit var btnTakeOverRecover: Button
+    private lateinit var tbLaneChange: ToggleButton
+    private lateinit var tbAeb: ToggleButton
+    private lateinit var tbStopYield: ToggleButton
+    private lateinit var tbMapSpeed: ToggleButton
+    private lateinit var tbRamp: ToggleButton
+
 
     init {
-        LayoutInflater.from(context).inflate(R.layout.view_remote_take_over_autopilot, this, true)
         initView()
     }
 
     private fun initView() {
+        mFloatLayout = LayoutInflater.from(mActivity).inflate(R.layout.view_remote_take_over_autopilot, null) as View
+        mFloatLayout.setOnTouchListener(this)
+
+        btnManualControl = mFloatLayout.findViewById(R.id.btn_manual_control)
+        btnOverTake = mFloatLayout.findViewById(R.id.btn_over_take)
+        btnLineToLeft = mFloatLayout.findViewById(R.id.btn_line_to_left)
+        btnLineToRight = mFloatLayout.findViewById(R.id.btn_line_to_right)
+        btnPullOver = mFloatLayout.findViewById(R.id.btn_pull_over)
+        btnEmergencyStop = mFloatLayout.findViewById(R.id.btn_emergency_stop)
+        btnTakeOverRequest = mFloatLayout.findViewById(R.id.btn_take_over_request)
+        btnTakeOverRecover = mFloatLayout.findViewById(R.id.btn_take_over_recover)
+        tbLaneChange = mFloatLayout.findViewById(R.id.tb_lane_change)
+        tbAeb = mFloatLayout.findViewById(R.id.tb_aeb)
+        tbStopYield = mFloatLayout.findViewById(R.id.tb_stop_yield)
+        tbMapSpeed = mFloatLayout.findViewById(R.id.tb_map_speed)
+        tbRamp = mFloatLayout.findViewById(R.id.tb_ramp)
+
         //人工接管
-        btn_manual_control.setOnClickListener {
+        btnManualControl.setOnClickListener {
             // 退出自驾
             CallerAutoPilotControlManager.cancelAutoPilot()
 //          CallerDevaToolsManager.takeOver(MANUAL_CONTROL)
         }
         //超车
-        btn_over_take.setOnClickListener {
+        btnOverTake.setOnClickListener {
             // 超车
             CallerAutoPilotControlManager.sendPlanningLineChangeCmd(3)
 //          CallerDevaToolsManager.takeOver(OVER_TAKE)
         }
-        btn_line_to_left.setOnClickListener {
+        btnLineToLeft.setOnClickListener {
             // 向左变道
             CallerAutoPilotControlManager.sendPlanningLineChangeCmd(1)
 //          CallerDevaToolsManager.takeOver(LINE_TO_LEFT)
         }
-        btn_line_to_right.setOnClickListener {
+        btnLineToRight.setOnClickListener {
             // 向右变道
             CallerAutoPilotControlManager.sendPlanningLineChangeCmd(2)
 //          CallerDevaToolsManager.takeOver(LINE_TO_RIGHT)
         }
-        btn_pull_over.setOnClickListener {
+        btnPullOver.setOnClickListener {
             // 靠边停车
             CallerAutoPilotControlManager.sendPlanningPullOverCmd(1)
 //          CallerDevaToolsManager.takeOver(PULL_OVER)
         }
-        btn_emergency_stop.setOnClickListener {
+        btnEmergencyStop.setOnClickListener {
             // 紧急停车
             CallerAutoPilotControlManager.sendPlanningPullOverCmd(3)
 //          CallerDevaToolsManager.takeOver(EMERGENCY_STOP)
         }
         //接管请求
-        btn_take_over_request.setOnClickListener {
+        btnTakeOverRequest.setOnClickListener {
             // takeOverRequest 执行时，避免多次提示
             if (takeOverRequest) {
                 return@setOnClickListener
@@ -103,16 +152,16 @@ class TakeOverAutopilotView @JvmOverloads constructor(
                     }
                 },expireTime =3000L, isFromObu = false
             )
-            SoundUtils.playRing(context)
+            SoundUtils.playRing(mActivity)
         }
         //恢复自动决策
-        btn_take_over_recover.setOnClickListener {
+        btnTakeOverRecover.setOnClickListener {
             CallerAutoPilotControlManager.sendPlanningLineChangeCmd(4)
             return@setOnClickListener
         }
         //AEB开关
-        tb_aeb.isChecked = SPUtils.getInstance().getBoolean("aeb",false)
-        tb_aeb.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        tbAeb.isChecked = SPUtils.getInstance().getBoolean("aeb",false)
+        tbAeb.setOnCheckedChangeListener{ compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -120,8 +169,8 @@ class TakeOverAutopilotView @JvmOverloads constructor(
             SPUtils.getInstance().put("aeb",isChecked)
         }
         //绕障开关
-        tb_lane_change.isChecked = SPUtils.getInstance().getBoolean("lane_change",false)
-        tb_lane_change.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        tbLaneChange.isChecked = SPUtils.getInstance().getBoolean("lane_change",false)
+        tbLaneChange.setOnCheckedChangeListener{ compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -129,8 +178,8 @@ class TakeOverAutopilotView @JvmOverloads constructor(
             SPUtils.getInstance().put("lane_change",isChecked)
         }
         //停车让行开关
-        tb_stop_yield.isChecked = SPUtils.getInstance().getBoolean("stop_yield",false)
-        tb_stop_yield.setOnCheckedChangeListener{ compoundButton, isChecked ->
+        tbStopYield.isChecked = SPUtils.getInstance().getBoolean("stop_yield",false)
+        tbStopYield.setOnCheckedChangeListener{ compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -138,8 +187,8 @@ class TakeOverAutopilotView @JvmOverloads constructor(
             SPUtils.getInstance().put("stop_yield",isChecked)
         }
         //地图限速开关
-        tb_map_speed.isChecked = SPUtils.getInstance().getBoolean("map_speed",false)
-        tb_map_speed.setOnCheckedChangeListener { compoundButton, isChecked ->
+        tbMapSpeed.isChecked = SPUtils.getInstance().getBoolean("map_speed",false)
+        tbMapSpeed.setOnCheckedChangeListener { compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
@@ -147,14 +196,70 @@ class TakeOverAutopilotView @JvmOverloads constructor(
             SPUtils.getInstance().put("map_speed",isChecked)
         }
         //环岛模式
-        tb_ramp.isChecked = SPUtils.getInstance().getBoolean("ramp",false)
-        tb_ramp.setOnCheckedChangeListener { compoundButton, isChecked ->
+        tbRamp.isChecked = SPUtils.getInstance().getBoolean("ramp",false)
+        tbRamp.setOnCheckedChangeListener { compoundButton, isChecked ->
             if(!compoundButton.isPressed){
                 return@setOnCheckedChangeListener
             }
             CallerAutoPilotControlManager.sendRampThetaValid(isChecked)
             SPUtils.getInstance().put("ramp",isChecked)
         }
+
+        mWindowParams = WindowManager.LayoutParams()
+        mWindowManager = mActivity.windowManager
+        mWindowParams?.let {
+            it.format = PixelFormat.RGBA_8888
+            it.flags = WindowManager.LayoutParams.FLAG_NOT_TOUCH_MODAL
+            it.gravity = Gravity.START or Gravity.TOP
+            it.width = 700
+            it.height = 900
+            it.alpha = 1.0f
+        }
+
+    }
+
+    @SuppressLint("ClickableViewAccessibility")
+    override fun onTouch(v: View?, motionEvent: MotionEvent?): Boolean {
+        when (motionEvent?.action) {
+            MotionEvent.ACTION_DOWN -> {
+                // 获取相对View的坐标，即以此View左上角为原点
+                mInViewX = motionEvent.x
+                mInViewY = motionEvent.y
+                // 获取相对屏幕的坐标，即以屏幕左上角为原点
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY
+            }
+            MotionEvent.ACTION_MOVE -> {
+                // 更新浮动窗口位置参数
+                mInScreenX = motionEvent.rawX
+                mInScreenY = motionEvent.rawY
+                if(((mInScreenX - mInViewX)-mWindowParams!!.x).absoluteValue>150 || ((mInScreenY - mInViewY)-mWindowParams!!.y).absoluteValue>150){
+                    return true
+                }
+                mWindowParams!!.x = (mInScreenX - mInViewX).toInt()
+                mWindowParams!!.y = (mInScreenY - mInViewY).toInt()
+                // 手指移动的时候更新小悬浮窗的位置
+                mWindowManager!!.updateViewLayout(mFloatLayout, mWindowParams)
+            }
+        }
+        return true
+    }
+
+    fun showFloatWindow() {
+        if (mFloatLayout.parent == null) {
+            val metrics = DisplayMetrics()
+            // 默认固定位置，靠屏幕右边缘的中间
+            mWindowManager!!.defaultDisplay.getMetrics(metrics)
+            mWindowParams!!.x = metrics.widthPixels
+            mWindowParams!!.y = metrics.heightPixels - BarUtils.getStatusBarHeight()-1140
+            mWindowManager!!.addView(mFloatLayout, mWindowParams)
+        }
+    }
+
+    fun hideFloatWindow() {
+        if (mFloatLayout.parent != null){
+            mWindowManager!!.removeView(mFloatLayout)
+        }
     }
 
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_bg.xml
new file mode 100644
index 0000000000..709e4ede62
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="@color/color_80FFFFFF"/>
+    <corners android:radius="20px" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_press_bg.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_press_bg.xml
new file mode 100644
index 0000000000..46f79035be
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/remote_take_over_item_press_bg.xml
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<shape xmlns:android="http://schemas.android.com/apk/res/android">
+    <solid android:color="#FFFFFF"/>
+    <corners android:radius="20px" />
+</shape>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_take_over_item.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_take_over_item.xml
new file mode 100644
index 0000000000..5c06ad51dd
--- /dev/null
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/drawable/selector_take_over_item.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:drawable="@drawable/remote_take_over_item_press_bg" android:state_pressed="true"/>
+    <item android:drawable="@drawable/remote_take_over_item_press_bg" android:state_checked="true"/>
+    <item android:drawable="@drawable/remote_take_over_item_bg" android:state_pressed="false"/>
+    <item android:drawable="@drawable/remote_take_over_item_bg" />
+</selector>
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_exam_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_exam_setting.xml
index d9ab5f9bb6..76cce1dc94 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_exam_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_exam_setting.xml
@@ -52,14 +52,4 @@
         android:layout_margin="@dimen/dp_20"
         />
 
-
-    <com.mogo.eagle.core.function.hmi.ui.vehicle.TakeOverAutopilotView
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        app:layout_constraintLeft_toLeftOf="parent"
-        app:layout_constraintRight_toRightOf="parent"
-        app:layout_constraintTop_toBottomOf="@id/seatPressureSettingView"
-        />
-
-
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml
index 496654da77..87d43374c8 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_remote_take_over_autopilot.xml
@@ -1,16 +1,17 @@
 <?xml version="1.0" encoding="utf-8"?>
 <androidx.constraintlayout.widget.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:app="http://schemas.android.com/apk/res-auto"
-    android:layout_width="@dimen/dp_631"
-    android:layout_height="@dimen/dp_1250"
+    android:layout_width="@dimen/dp_700"
+    android:layout_height="@dimen/dp_900"
+    android:background="@drawable/bg_remote_take"
     >
 
     <Button
         android:id="@+id/btn_manual_control"
         style="?android:attr/borderlessButtonStyle"
         android:layout_width="@dimen/dp_502"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_80"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_20"
         android:background="@drawable/remote_take_over_autopilot_bg"
         android:gravity="center"
         android:text="@string/hmi_take_over"
@@ -23,8 +24,9 @@
     <Button
         android:id="@+id/btn_over_take"
         android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
+        android:background="@drawable/selector_take_over_item"
         android:gravity="center"
         android:text="@string/hmi_over_take"
         android:textColor="#FF181D6D"
@@ -35,9 +37,10 @@
     <Button
         android:id="@+id/btn_line_to_left"
         android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
         android:text="@string/hmi_line_to_left"
         android:textColor="#FF181D6D"
         android:textSize="@dimen/sp_30"
@@ -48,9 +51,10 @@
     <Button
         android:id="@+id/btn_line_to_right"
         android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
         android:text="@string/hmi_line_to_right"
         android:textColor="#FF181D6D"
         android:textSize="@dimen/sp_30"
@@ -60,9 +64,10 @@
     <Button
         android:id="@+id/btn_pull_over"
         android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
         android:text="@string/hmi_pull_over"
         android:textColor="#FF181D6D"
         android:textSize="@dimen/sp_30"
@@ -72,9 +77,10 @@
     <Button
         android:id="@+id/btn_emergency_stop"
         android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
         android:text="@string/hmi_emergency_stop"
         android:textColor="#FF181D6D"
         android:textSize="@dimen/sp_30"
@@ -85,9 +91,10 @@
     <Button
         android:id="@+id/btn_take_over_request"
         android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
         android:text="@string/hmi_take_over_request"
         android:textColor="#FF181D6D"
         android:textSize="@dimen/sp_30"
@@ -96,11 +103,11 @@
 
     <Button
         android:id="@+id/btn_take_over_recover"
-        style="?android:attr/borderlessButtonStyle"
-        android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         android:gravity="center"
+        android:background="@drawable/selector_take_over_item"
         android:text="@string/hmi_take_over_recover"
         android:textColor="#FF181D6D"
         android:textSize="@dimen/sp_30"
@@ -111,12 +118,13 @@
 
     <ToggleButton
         android:id="@+id/tb_lane_change"
-        android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         app:layout_constraintTop_toBottomOf="@id/btn_emergency_stop"
         app:layout_constraintLeft_toRightOf="@id/btn_take_over_recover"
         app:layout_constraintRight_toRightOf="parent"
+        android:background="@drawable/selector_take_over_item"
         android:textOff="@string/hmi_open_lane_change"
         android:textOn="@string/hmi_close_lane_change"
         android:textColor="#FF181D6D"
@@ -126,12 +134,13 @@
 
     <ToggleButton
         android:id="@+id/tb_aeb"
-        android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         app:layout_constraintTop_toBottomOf="@id/tb_lane_change"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toLeftOf="@id/tb_stop_yield"
+        android:background="@drawable/selector_take_over_item"
         android:textOff="@string/hmi_open_aeb"
         android:textOn="@string/hmi_close_aeb"
         android:textColor="#FF181D6D"
@@ -141,12 +150,13 @@
 
     <ToggleButton
         android:id="@+id/tb_stop_yield"
-        android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         app:layout_constraintTop_toBottomOf="@id/tb_lane_change"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintLeft_toRightOf="@id/tb_aeb"
+        android:background="@drawable/selector_take_over_item"
         android:textOff="@string/hmi_open_stop_yield"
         android:textOn="@string/hmi_close_stop_yield"
         android:textColor="#FF181D6D"
@@ -156,12 +166,13 @@
 
     <ToggleButton
         android:id="@+id/tb_map_speed"
-        android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         app:layout_constraintTop_toBottomOf="@id/tb_aeb"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toLeftOf="@id/tb_ramp"
+        android:background="@drawable/selector_take_over_item"
         android:textOff="@string/hmi_open_map_speed"
         android:textOn="@string/hmi_close_map_speed"
         android:textColor="#FF181D6D"
@@ -171,12 +182,13 @@
 
     <ToggleButton
         android:id="@+id/tb_ramp"
-        android:layout_width="@dimen/dp_147"
-        android:layout_height="@dimen/dp_94"
-        android:layout_marginTop="@dimen/dp_40"
+        android:layout_width="@dimen/dp_230"
+        android:layout_height="@dimen/dp_90"
+        android:layout_marginTop="@dimen/dp_30"
         app:layout_constraintTop_toBottomOf="@id/tb_aeb"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintLeft_toRightOf="@id/tb_map_speed"
+        android:background="@drawable/selector_take_over_item"
         android:textOff="@string/hmi_open_ramp"
         android:textOn="@string/hmi_close_ramp"
         android:textColor="#FF181D6D"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
index b098a18d10..29f5f47f65 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/color.xml
@@ -46,7 +46,7 @@
     <color name="foreground_debug">#FF333333</color>
     <color name="foreground_info">#FF333333</color>
     <color name="foreground_warn">#FFCCCCCC</color>
-
+    <color name="color_80FFFFFF">#80FFFFFF</color>
 
 
 
diff --git a/core/mogo-core-res/src/main/res/drawable/bg_remote_take.9.png b/core/mogo-core-res/src/main/res/drawable/bg_remote_take.9.png
new file mode 100644
index 0000000000..3b4d8ad35d
Binary files /dev/null and b/core/mogo-core-res/src/main/res/drawable/bg_remote_take.9.png differ