diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
index dbc577319b..fb5aaf01ba 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/EntranceFragment.java
@@ -13,6 +13,7 @@ import android.view.MotionEvent;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
+import android.widget.CheckedTextView;
 import android.widget.EditText;
 import android.widget.FrameLayout;
 import android.widget.ImageButton;
@@ -67,6 +68,8 @@ import com.mogo.module.extensions.utils.TopViewAnimHelper;
 import com.mogo.module.extensions.utils.TopViewNoLinkageAnimHelper;
 import com.mogo.module.share.manager.ServiceApisManager;
 import com.mogo.service.IMogoServiceApis;
+import com.mogo.service.adas.IMogoAdasOCHCallback;
+import com.mogo.service.adas.entity.AdasOCHData;
 import com.mogo.service.analytics.IMogoAnalytics;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 import com.mogo.service.entrance.ButtonIndex;
@@ -205,6 +208,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
     private TextView tvRed;
     private TextView tvGreen;
 
+    private CheckedTextView ctvAutopilotStatus;
 
     /**
      * 内部变量标识是否在vrMode，用于方法执行过滤，避免重复或异常调用
@@ -271,6 +275,7 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         mMove2CurrentLocation = findViewById(R.id.module_entrance_id_move2_current_location);
         mUserHeadImg = findViewById(R.id.ivUserHeadImg);
         groupFix = findViewById(R.id.groupFix);
+        ctvAutopilotStatus = findViewById(R.id.module_mogo_autopilot_status);
 
         ConstraintLayout rootView = findViewById(R.id.module_entrance_id_top_motion_layout);
         if (rootView != null) {
@@ -341,6 +346,17 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
             });
         }
 
+        onAutopilotStatusChanged(
+                MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus() == IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING);
+
+        ctvAutopilotStatus.setOnClickListener(new OnPreventFastClickListener() {
+            @Override
+            public void onClickImpl(View v) {
+                // 如果能自动驾驶，就自动驾驶，不能就提示
+                autopilotStatusClick();
+            }
+        });
+
         dealWeatherContainer();
 
         listenSeekNumber();
@@ -376,6 +392,21 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
         }
     }
 
+    /**
+     * 自动驾驶状态改变
+     *
+     * @param isInAutopilot true - 在自动驾驶中  false - 不在自动驾驶中
+     */
+    public void onAutopilotStatusChanged(boolean isInAutopilot) {
+        getActivity().runOnUiThread(() -> {
+            ctvAutopilotStatus.setChecked(isInAutopilot);
+        });
+    }
+
+    private void autopilotStatusClick() {
+        EntranceViewHolder.getInstance().entranceAutopilotStatusClick();
+    }
+
     private int debugPanelClickCount = 0;
     private long lastDebugPanelClickTime = 0;
 
@@ -1368,4 +1399,18 @@ public class EntranceFragment extends MvpFragment<EntranceView, EntrancePresente
     public void onCarLocationChanged(MogoLatLng latLng) {
 
     }
+
+    @Override
+    public void onArriveAt(AdasOCHData data) {
+
+    }
+
+    @Override
+    public void onStateChanged(int state, String reason) {
+        if(state == IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING){
+            ctvAutopilotStatus.setChecked(true);
+        }else{
+            ctvAutopilotStatus.setChecked(false);
+        }
+    }
 }
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtonControllerImpl.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtonControllerImpl.java
index 6a664575a4..7c9abdde31 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtonControllerImpl.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtonControllerImpl.java
@@ -8,6 +8,7 @@ import com.alibaba.android.arouter.facade.annotation.Route;
 import com.mogo.module.extensions.utils.EntranceViewHolder;
 import com.mogo.service.MogoServicePaths;
 import com.mogo.service.entrance.ButtonIndex;
+import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
 import com.mogo.service.entrance.IMogoEntranceButtonController;
 import com.mogo.service.windowview.IMogoEntranceViewListener;
 
@@ -70,6 +71,16 @@ public class MogoEntranceButtonControllerImpl implements IMogoEntranceButtonCont
         EntranceViewHolder.getInstance().removeEntranceViewListener(listener);
     }
 
+    @Override
+    public void addEntranceAutopilotStatusClickListener(IMogoEntranceAutopilotStatusClickListener listener) {
+        EntranceViewHolder.getInstance().addEntranceAutopilotStatusClickListener(listener);
+    }
+
+    @Override
+    public void removeEntranceAutopilotStatusClickListener(IMogoEntranceAutopilotStatusClickListener listener) {
+        EntranceViewHolder.getInstance().removeEntranceAutopilotStatusClickListener(listener);
+    }
+
     @Override
     public void init( Context context ) {
 
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtons.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtons.java
index 686d01e72e..e0ff5e482e 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtons.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/entrance/MogoEntranceButtons.java
@@ -15,7 +15,7 @@ import java.util.Map;
  */
 public class MogoEntranceButtons {
 
-    private static Map< ButtonIndex, TextView > sButtons = new HashMap<>();
+    private static final Map< ButtonIndex, TextView > sButtons = new HashMap<>();
 
     public static void save( ButtonIndex index, TextView btn ) {
         sButtons.put( index, btn );
diff --git a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/EntranceViewHolder.java b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/EntranceViewHolder.java
index 4d1de4513d..eb64124d8f 100644
--- a/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/EntranceViewHolder.java
+++ b/modules/mogo-module-extensions/src/main/java/com/mogo/module/extensions/utils/EntranceViewHolder.java
@@ -1,5 +1,7 @@
 package com.mogo.module.extensions.utils;
 
+import static com.mogo.service.entrance.IMogoEntranceButtonController.NOTICE_TYPE_SEEK_HELP;
+
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
@@ -10,6 +12,7 @@ import android.widget.TextView;
 import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.extensions.R;
 import com.mogo.module.extensions.bean.BottomLayerViewWrapper;
+import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
 import com.mogo.service.windowview.IMogoEntranceViewListener;
 import com.mogo.utils.logger.Logger;
 
@@ -17,20 +20,20 @@ import java.util.ArrayList;
 import java.util.Iterator;
 import java.util.List;
 
-import static com.mogo.service.entrance.IMogoEntranceButtonController.NOTICE_TYPE_SEEK_HELP;
-
 /**
  * 入口页view管理
+ *
  * @author tongchenfei
  */
 public class EntranceViewHolder {
     private static final String TAG = "EntranceViewHolder";
-    private List<BottomLayerViewWrapper> preAddView = new ArrayList<>();
-    private List<View> leftFeaturePreAddView = new ArrayList<>();
-    private View preAddLeftNoticeView = null;
-    private EntranceViewHolder(){}
+
+    private EntranceViewHolder() {
+    }
+
     private volatile static EntranceViewHolder instance = null;
-    public static EntranceViewHolder getInstance(){
+
+    public static EntranceViewHolder getInstance() {
         if (instance == null) {
             synchronized (EntranceViewHolder.class) {
                 if (instance == null) {
@@ -40,13 +43,18 @@ public class EntranceViewHolder {
         }
         return instance;
     }
+
+    private final List<BottomLayerViewWrapper> preAddView = new ArrayList<>();
+    private final List<View> leftFeaturePreAddView = new ArrayList<>();
+    private View preAddLeftNoticeView = null;
+
     private ViewGroup rootViewGroup = null;
     private ViewGroup featureViewGroup = null;
     private ViewGroup leftNoticeContainer = null;
 
     public void initRootViewGroup(View rootView) {
         Logger.i(TAG, "initRootViewGroup==");
-        if(rootView instanceof ViewGroup) {
+        if (rootView instanceof ViewGroup) {
             Logger.d(TAG, "initRootViewGroup 赋值");
             rootViewGroup = (ViewGroup) rootView.getParent();
             leftNoticeContainer =
@@ -82,12 +90,12 @@ public class EntranceViewHolder {
         Logger.d(TAG, "addBottomLayerView, rootViewGroup is null: " + (rootViewGroup == null) +
                 "\n x: " + x + ", y: " + y);
         BottomLayerViewWrapper wrapper = new BottomLayerViewWrapper(view, x, y);
-        if(rootViewGroup == null) {
-            if(!preAddView.contains(wrapper)) {
+        if (rootViewGroup == null) {
+            if (!preAddView.contains(wrapper)) {
                 preAddView.add(wrapper);
             }
-        }else{
-            if(!containView(view)) {
+        } else {
+            if (!containView(view)) {
                 realAddView(wrapper);
             }
         }
@@ -96,7 +104,7 @@ public class EntranceViewHolder {
     private boolean containView(View view) {
         int count = rootViewGroup.getChildCount();
         for (int i = 0; i < count; i++) {
-            if(rootViewGroup.getChildAt(i).equals(view)){
+            if (rootViewGroup.getChildAt(i).equals(view)) {
                 return true;
             }
         }
@@ -106,7 +114,7 @@ public class EntranceViewHolder {
     private boolean containFeatureView(View view) {
         int count = featureViewGroup.getChildCount();
         for (int i = 0; i < count; i++) {
-            if(featureViewGroup.getChildAt(i).equals(view)){
+            if (featureViewGroup.getChildAt(i).equals(view)) {
                 return true;
             }
         }
@@ -116,7 +124,7 @@ public class EntranceViewHolder {
     /**
      * 使用的时候需要预先判断rootViewGroup是否为空，本方法默认rootViewGroup不为空
      */
-    private void realAddView(BottomLayerViewWrapper wrapper){
+    private void realAddView(BottomLayerViewWrapper wrapper) {
         FrameLayout.LayoutParams params =
                 new FrameLayout.LayoutParams(FrameLayout.LayoutParams.WRAP_CONTENT,
                         FrameLayout.LayoutParams.WRAP_CONTENT);
@@ -145,10 +153,10 @@ public class EntranceViewHolder {
         Logger.d(TAG, "addLeftFeatureView==" + view);
         if (featureViewGroup == null) {
             // 先缓存起来，等待时机加载
-            if(!leftFeaturePreAddView.contains(view)) {
+            if (!leftFeaturePreAddView.contains(view)) {
                 leftFeaturePreAddView.add(view);
             }
-        }else{
+        } else {
             // 直接加载
             if (!containFeatureView(view)) {
                 featureViewGroup.addView(view);
@@ -171,7 +179,7 @@ public class EntranceViewHolder {
 
 
     public void showLeftNoticeView(View view) {
-        if(MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
             if (leftNoticeContainer != null) {
                 realShowLeftNoticeView(view);
             } else {
@@ -181,7 +189,7 @@ public class EntranceViewHolder {
     }
 
     public void hideLeftNoticeView(View view) {
-        if(MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
             if (preAddLeftNoticeView != null && preAddLeftNoticeView == view) {
                 preAddLeftNoticeView = null;
             }
@@ -191,7 +199,7 @@ public class EntranceViewHolder {
         }
     }
 
-    public void forceHideNoticeView(){
+    public void forceHideNoticeView() {
         for (IMogoEntranceViewListener listener : listeners) {
             listener.onViewRemoved(currentShowNoticeType);
         }
@@ -203,8 +211,9 @@ public class EntranceViewHolder {
     }
 
     private int currentShowNoticeType = 0;
-    public void showLeftNoticeByType(int noticeType, int iconRes, String content){
-        if(MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+
+    public void showLeftNoticeByType(int noticeType, int iconRes, String content) {
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
             if (currentShowNoticeType != noticeType && currentShowNoticeType != 0) {
                 for (IMogoEntranceViewListener listener : listeners) {
                     listener.onViewRemoved(currentShowNoticeType);
@@ -221,21 +230,21 @@ public class EntranceViewHolder {
     }
 
     public void hideLeftNoticeByType(int noticeType) {
-        if(MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
+        if (MogoApisHandler.getInstance().getApis().getStatusManagerApi().isVrMode()) {
             if (currentShowNoticeType == noticeType) {
                 forceHideNoticeView();
             }
         }
     }
 
-    private View generateNoticeViewByType(int noticeType,int iconRes, String content) {
+    private View generateNoticeViewByType(int noticeType, int iconRes, String content) {
         View view =
                 LayoutInflater.from(leftNoticeContainer.getContext()).inflate(R.layout.item_vr_left_notice, leftNoticeContainer, false);
         ImageView icon = view.findViewById(R.id.module_ext_iv_left_notice_icon);
         if (noticeType == NOTICE_TYPE_SEEK_HELP) {
             // 自车求助，是橘色的背景
             icon.setBackgroundResource(R.drawable.module_ext_left_notice_icon_orange_bg);
-        }else{
+        } else {
             // 其他是红色背景
             icon.setBackgroundResource(R.drawable.module_ext_left_notice_icon_red_bg);
         }
@@ -245,7 +254,7 @@ public class EntranceViewHolder {
         return view;
     }
 
-    private void realShowLeftNoticeView(View view){
+    private void realShowLeftNoticeView(View view) {
         leftNoticeContainer.setVisibility(View.VISIBLE);
         leftNoticeContainer.removeAllViews();
         leftNoticeContainer.addView(view);
@@ -260,7 +269,8 @@ public class EntranceViewHolder {
         leftNoticeContainer.setVisibility(View.GONE);
     }
 
-    private List<IMogoEntranceViewListener> listeners = new ArrayList<>();
+    private final List<IMogoEntranceViewListener> listeners = new ArrayList<>();
+    private final List<IMogoEntranceAutopilotStatusClickListener> btnClickListeners = new ArrayList<>();
 
     public void addEntranceViewListener(IMogoEntranceViewListener listener) {
         listeners.add(listener);
@@ -270,7 +280,21 @@ public class EntranceViewHolder {
         listeners.remove(listener);
     }
 
-    public void release(){
+    public void addEntranceAutopilotStatusClickListener(IMogoEntranceAutopilotStatusClickListener listener) {
+        btnClickListeners.add(listener);
+    }
+
+    public void removeEntranceAutopilotStatusClickListener(IMogoEntranceAutopilotStatusClickListener listener) {
+        btnClickListeners.remove(listener);
+    }
+
+    public void entranceAutopilotStatusClick() {
+        for (IMogoEntranceAutopilotStatusClickListener listener : btnClickListeners) {
+            listener.click();
+        }
+    }
+
+    public void release() {
         rootViewGroup = null;
         featureViewGroup = null;
         leftNoticeContainer = null;
diff --git a/modules/mogo-module-extensions/src/main/res/drawable-xhdpi/module_ext_ic_autopilot.png b/modules/mogo-module-extensions/src/main/res/drawable-xhdpi/module_ext_ic_autopilot.png
new file mode 100644
index 0000000000..be978145dc
Binary files /dev/null and b/modules/mogo-module-extensions/src/main/res/drawable-xhdpi/module_ext_ic_autopilot.png differ
diff --git a/modules/mogo-module-extensions/src/main/res/drawable/module_mogo_autopilot_status_bg.xml b/modules/mogo-module-extensions/src/main/res/drawable/module_mogo_autopilot_status_bg.xml
new file mode 100644
index 0000000000..b5596fad13
--- /dev/null
+++ b/modules/mogo-module-extensions/src/main/res/drawable/module_mogo_autopilot_status_bg.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android">
+    <item android:state_checked="true">
+        <shape android:shape="rectangle">
+            <corners android:bottomLeftRadius="20px" android:bottomRightRadius="45px" android:topLeftRadius="45px" android:topRightRadius="20px" />
+            <gradient android:angle="315" android:endColor="#2B6EFF" android:startColor="#2B6EFF" />
+        </shape>
+    </item>
+    <item>
+        <shape android:shape="rectangle">
+            <corners android:bottomLeftRadius="20px" android:bottomRightRadius="45px" android:topLeftRadius="45px" android:topRightRadius="20px" />
+            <gradient android:angle="315" android:endColor="#3B4577" android:startColor="#3B4577" />
+        </shape>
+    </item>
+</selector>
+
diff --git a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
index 9e5f2ceb3e..801c96f21f 100644
--- a/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
+++ b/modules/mogo-module-extensions/src/main/res/layout/module_ext_layout_entrance.xml
@@ -6,6 +6,26 @@
     android:layout_width="match_parent"
     android:layout_height="match_parent">
 
+    <CheckedTextView
+        android:id="@+id/module_mogo_autopilot_status"
+        android:layout_width="@dimen/module_mogo_autopilot_status_bg_width"
+        android:layout_height="@dimen/module_mogo_autopilot_status_bg_height"
+        android:layout_marginLeft="@dimen/module_mogo_autopilot_status_margin_left"
+        android:layout_marginTop="@dimen/module_mogo_autopilot_status_margin_top"
+        android:background="@drawable/module_mogo_autopilot_status_bg"
+        android:drawableLeft="@drawable/module_ext_ic_autopilot"
+        android:drawablePadding="@dimen/dp_30"
+        android:elevation="@dimen/dp_10"
+        android:gravity="center_vertical"
+        android:paddingLeft="@dimen/module_mogo_autopilot_status_padding"
+        android:text="自动驾驶"
+        android:textColor="#FFFFFF"
+        android:textSize="@dimen/module_mogo_autopilot_status_text_size"
+        android:textStyle="bold"
+        app:layout_constraintLeft_toLeftOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:visibility="visible" />
+
     <include
         layout="@layout/module_ext_layout_extensions"
         android:layout_width="match_parent"
diff --git a/modules/mogo-module-extensions/src/main/res/values-xhdpi-2560x1440/dimens.xml b/modules/mogo-module-extensions/src/main/res/values-xhdpi-2560x1440/dimens.xml
index c6d70e56d6..6aac8f0065 100644
--- a/modules/mogo-module-extensions/src/main/res/values-xhdpi-2560x1440/dimens.xml
+++ b/modules/mogo-module-extensions/src/main/res/values-xhdpi-2560x1440/dimens.xml
@@ -8,4 +8,11 @@
     <dimen name="module_switch_text_size">36px</dimen>
     <dimen name="module_switch_image">50px</dimen>
     <dimen name="module_switch_image_circle">60px</dimen>
+
+    <dimen name="module_mogo_autopilot_status_bg_width">460px</dimen>
+    <dimen name="module_mogo_autopilot_status_bg_height">140px</dimen>
+    <dimen name="module_mogo_autopilot_status_margin_left">40px</dimen>
+    <dimen name="module_mogo_autopilot_status_margin_top">530px</dimen>
+    <dimen name="module_mogo_autopilot_status_padding">92px</dimen>
+    <dimen name="module_mogo_autopilot_status_text_size">44px</dimen>
 </resources>
\ No newline at end of file
diff --git a/modules/mogo-module-extensions/src/main/res/values/dimens.xml b/modules/mogo-module-extensions/src/main/res/values/dimens.xml
index eeb585d868..8e2ae71b16 100644
--- a/modules/mogo-module-extensions/src/main/res/values/dimens.xml
+++ b/modules/mogo-module-extensions/src/main/res/values/dimens.xml
@@ -251,4 +251,11 @@
     <dimen name="module_switch_image">35px</dimen>
     <dimen name="module_switch_image_circle">38px</dimen>
 
+    <dimen name="module_mogo_autopilot_status_bg_width">460px</dimen>
+    <dimen name="module_mogo_autopilot_status_bg_height">140px</dimen>
+    <dimen name="module_mogo_autopilot_status_margin_left">40px</dimen>
+    <dimen name="module_mogo_autopilot_status_margin_top">530px</dimen>
+    <dimen name="module_mogo_autopilot_status_padding">92px</dimen>
+    <dimen name="module_mogo_autopilot_status_text_size">44px</dimen>
+
 </resources>
\ No newline at end of file
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
index 3c6284abb4..b4d884d6ae 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
@@ -9,6 +9,7 @@ import android.location.Location;
 import android.os.Handler;
 import android.os.Message;
 
+import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.map.MogoLatLng;
 import com.mogo.map.location.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
@@ -16,16 +17,21 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBean;
 import com.mogo.module.service.dispatch.model.DispatchServiceModel;
 import com.mogo.module.service.dispatch.model.IDispatch;
+import com.mogo.service.IMogoServiceApis;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.adas.RemoteControlAutoPilotParameters;
 import com.mogo.service.adas.entity.AdasOCHData;
-import com.mogo.service.cloud.socket.IMogoOnMessageListener;
+import com.mogo.service.connection.IMogoOnMessageListener;
+import com.mogo.service.entrance.IMogoEntranceAutopilotStatusClickListener;
 import com.mogo.utils.logger.Logger;
 
+import java.util.ArrayList;
+import java.util.List;
+
 //负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
 public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
         , IDispatchRemindClickListener
-        , IMogoCarLocationChangedListener2, IMogoAdasOCHCallback {
+        , IMogoCarLocationChangedListener2, IMogoAdasOCHCallback, IMogoEntranceAutopilotStatusClickListener {
 
     private static final String TAG = "DispatchAutoPilotManager";
     private static volatile DispatchAutoPilotManager instance;
@@ -40,6 +46,10 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
     private DispatchAdasAutoPilotLocReceiverBean receiverBean;
     private int autoPilotStatus = 0;
     private String reason = null;
+    private boolean isDispatch = false;
+    private boolean isArriveEnd = false;
+
+    private IMogoServiceApis mApis;
 
     private DispatchAutoPilotManager() {
 
@@ -65,6 +75,8 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                     Logger.d(TAG, "此时已经有调度，又收到调度信息");
                     return;
                 }
+                isDispatch = true;
+                isArriveEnd = false;
                 DispatchAdasAutoPilotLocReceiverBean msgData = (DispatchAdasAutoPilotLocReceiverBean) msg.obj;
                 dispatchDialogManager.showDialog(msgData);
             } else if (msg.what == MSG_TYPE_UPLOAD_AUTOPILOT_STATUS) {
@@ -76,12 +88,14 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
 
     public void initSocket(Context context) {
         mContext = context;
-        MogoApisHandler.getInstance().getApis()
-                .getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
-        MogoApisHandler.getInstance().getApis().getRegisterCenterApi()
+        mApis = MogoApisHandler.getInstance().getApis();
+
+        mApis.getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
+        mApis.getRegisterCenterApi()
                 .registerCarLocationChangedListener(TAG, this);
-        MogoApisHandler.getInstance().getApis().getAdasControllerApi()
+        mApis.getAdasControllerApi()
                 .addAdasOCHCallback(this);
+        mApis.getEntranceButtonController().addEntranceAutopilotStatusClickListener(this);
         dispatchDialogManager = DispatchDialogManager.getInstance(context);
         dispatchDialogManager.addIDispatchRemindListener(this);
         handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L);
@@ -111,13 +125,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
         DispatchServiceModel.getInstance().dispatchResultUpload(DISPATCH_RESULT_AFFIRM, new IDispatch() {
             @Override
             public void onSuccess() {
-                RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
-                currentAutopilot.isSpeakVoice = false;
-                currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
-                currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
-                currentAutopilot.vehicleType = 10;
-                Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
-                MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+                startAutoPilot();
             }
 
             @Override
@@ -127,6 +135,21 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
         });
     }
 
+    private void startAutoPilot() {
+        RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
+        currentAutopilot.isSpeakVoice = false;
+        List<RemoteControlAutoPilotParameters.AutoPilotLonLat> wayLatLon = new ArrayList<>();
+        for (MogoLatLng mogoLatLng : receiverBean.getStopsList()) {
+            wayLatLon.add(new RemoteControlAutoPilotParameters.AutoPilotLonLat(mogoLatLng.lat, mogoLatLng.lon));
+        }
+        currentAutopilot.wayLatLons = wayLatLon;
+        currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getStartLat(), receiverBean.getStartLon());
+        currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(receiverBean.getEndLat(), receiverBean.getEndLon());
+        currentAutopilot.vehicleType = 10;
+        Logger.d(TAG, "开启自动驾驶====" + currentAutopilot);
+        mApis.getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+    }
+
     @Override
     public void cancel(boolean manualTrigger) {
         dispatchDialogManager.releaseDialog();
@@ -164,6 +187,40 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
 
     }
 
+    @Override
+    public void onArriveAt(AdasOCHData data) {
+        double endLat = data.lat;
+        double endLon = data.lon;
+        // 计算是不是到了终点
+        float distanceFromSelf = CoordinateUtils.calculateLineDistance(receiverBean.getEndLon(), receiverBean.getEndLat()
+                , endLon, endLat);
+        Logger.d(TAG, "onArriveAt cal distance : " + distanceFromSelf);
+        if (distanceFromSelf < 10) {
+            Logger.d(TAG, "onArriveAt end location");
+            isDispatch = false;
+            isArriveEnd = true;
+        }
+    }
+
+    @Override
+    public void onStateChanged(int state, String reason) {
+        autoPilotStatus = state;
+        this.reason = reason;
+    }
+
+    @Override
+    public void click() {
+        // 确保到达终点后，再次点击，不会有回馈，并且在下次调开始时，才会重置
+        if (isArriveEnd) {
+            return;
+        }
+        //todo 确认是否要根据停靠时自动驾驶状态，再次开启自动驾驶
+        // 确保处于调度中并且返回的自动驾驶状态为1才开启自动驾驶
+        if (isDispatch ) {
+            startAutoPilot();
+        }
+    }
+
     public void testAutopilotStatus() {
         autoPilotStatus = 2;
     }
@@ -174,7 +231,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                 DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START, "1",
                 26.825571122, 112.5762410415, "起点---5号跑道",
                 26.825571122, 112.5762410415, "终点---鄂州机场",
-                "5分钟", "AR453航班", "你车需执行编号ca1098次航班的引导任务，从A区A1到B区B1", System.currentTimeMillis());
+                "5分钟", "AR453航班", "你车需执行编号ca1098次航班的引导任务，从A区A1到B区B1", System.currentTimeMillis(), new ArrayList<>());
         this.receiverBean = adasAutoPilotLocReceiverBean;
         DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
     }
@@ -185,7 +242,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                 DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_EZHOU, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_STOP, "1",
                 0.0, 0.0, "",
                 0.0, 0.0, "",
-                "", "", "", System.currentTimeMillis());
+                "", "", "", System.currentTimeMillis(), new ArrayList<>());
         this.receiverBean = adasAutoPilotLocReceiverBean;
         DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
     }
@@ -196,7 +253,7 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
                 DispatchAdasAutoPilotLocReceiverBean.DISPATCH_SOURCE_HENGYANG, DispatchAdasAutoPilotLocReceiverBean.DISPATCH_TYPE_START, "2",
                 26.825571122, 112.5762410415, "衡阳科学城",
                 26.825571122, 112.5762410415, "衡阳首钢集团",
-                "", "", "", System.currentTimeMillis());
+                "", "", "", System.currentTimeMillis(), new ArrayList<>());
         this.receiverBean = adasAutoPilotLocReceiverBean;
         DispatchDialogManager.getInstance(mContext).showDialog(adasAutoPilotLocReceiverBean);
     }
@@ -214,15 +271,4 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
             }
         });
     }
-
-    @Override
-    public void onArriveAt(AdasOCHData data) {
-
-    }
-
-    @Override
-    public void onStateChanged(int state, String reason) {
-        autoPilotStatus = state;
-        this.reason = reason;
-    }
 }
diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java
index a7710e311c..b20952f555 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/bean/DispatchAdasAutoPilotLocReceiverBean.java
@@ -1,5 +1,9 @@
 package com.mogo.module.service.dispatch.bean;
 
+import com.mogo.map.MogoLatLng;
+
+import java.util.List;
+
 public class DispatchAdasAutoPilotLocReceiverBean {
 
     public static final int DISPATCH_SOURCE_HENGYANG = 1;
@@ -23,8 +27,9 @@ public class DispatchAdasAutoPilotLocReceiverBean {
     private String flightInfo;
     private String taskInfo;
     private long systemTime;
+    private List<MogoLatLng> stopsList;
 
-    public DispatchAdasAutoPilotLocReceiverBean(int source, int type, String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime) {
+    public DispatchAdasAutoPilotLocReceiverBean(int source, int type, String poiId, double startLat, double startLon, String startLocAddress, double endLat, double endLon, String endLocAddress, String taskTime, String flightInfo, String taskInfo, long systemTime, List<MogoLatLng> stopsList) {
         this.source = source;
         this.type = type;
         this.poiId = poiId;
@@ -38,6 +43,7 @@ public class DispatchAdasAutoPilotLocReceiverBean {
         this.flightInfo = flightInfo;
         this.taskInfo = taskInfo;
         this.systemTime = systemTime;
+        this.stopsList = stopsList;
     }
 
     public int getSource() {
@@ -144,6 +150,14 @@ public class DispatchAdasAutoPilotLocReceiverBean {
         this.systemTime = systemTime;
     }
 
+    public List<MogoLatLng> getStopsList() {
+        return stopsList;
+    }
+
+    public void setStopsList(List<MogoLatLng> stopsList) {
+        this.stopsList = stopsList;
+    }
+
     @Override
     public String toString() {
         return "DispatchAdasAutoPilotLocReceiverBean{" +
@@ -160,6 +174,7 @@ public class DispatchAdasAutoPilotLocReceiverBean {
                 ", flightInfo='" + flightInfo + '\'' +
                 ", taskInfo='" + taskInfo + '\'' +
                 ", systemTime=" + systemTime +
+                ", stopsList=" + stopsList +
                 '}';
     }
 }
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceAutopilotStatusClickListener.java b/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceAutopilotStatusClickListener.java
new file mode 100644
index 0000000000..d42a712fdf
--- /dev/null
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceAutopilotStatusClickListener.java
@@ -0,0 +1,6 @@
+package com.mogo.service.entrance;
+
+public interface IMogoEntranceAutopilotStatusClickListener {
+
+    void click();
+}
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceButtonController.java b/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceButtonController.java
index bebd0cdd4d..eeaaf8c89e 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceButtonController.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/entrance/IMogoEntranceButtonController.java
@@ -68,10 +68,11 @@ public interface IMogoEntranceButtonController extends IProvider {
      * @param index
      * @return
      */
-    TextView getButton( ButtonIndex index );
+    TextView getButton(ButtonIndex index);
 
     /**
      * 添加低层级view，使用ViewGroup.addView(v,0)实现
+     *
      * @param view 将要添加的view
      */
     void addBottomLayerView(View view);
@@ -79,65 +80,89 @@ public interface IMogoEntranceButtonController extends IProvider {
     /**
      * 添加低层级view，使用ViewGroup.addView(v,0)实现
      * 可指定x,y位置
+     *
      * @param view 将要添加的view
-     * @param x leftMargin
-     * @param y topMargin
+     * @param x    leftMargin
+     * @param y    topMargin
      */
     void addBottomLayerView(View view, int x, int y);
 
     /**
      * 移除对应的底层view
+     *
      * @param view 待移除view
      */
     void removeBottomLayerView(View view);
 
     /**
      * 添加左下角功能View，按顺序添加到最底端
+     *
      * @param view 待添加view
      */
     void addLeftFeatureView(View view);
 
     /**
      * 移除左下角功能按钮
+     *
      * @param view 待移除view
      */
     void removeLeftFeatureView(View view);
 
     /**
      * 设置vr模式下，左下角提示view
+     *
      * @param view 目前是adas提示和求助
      */
     void showLeftNoticeView(View view);
 
     /**
      * 隐藏vr模式下，左下角提示view，需要与{@link #showLeftNoticeView(View)}成对使用
+     *
      * @param view 待隐藏view
      */
     void hideLeftNoticeView(View view);
 
     /**
      * 根据noticeType添加左侧提示
+     *
      * @param noticeType {@link #NOTICE_TYPE_SUDDENLY_BREAK}...
-     * @param iconRes 本地 icon res
-     * @param content 提示内容
+     * @param iconRes    本地 icon res
+     * @param content    提示内容
      */
     void showLeftNoticeByType(int noticeType, int iconRes, String content);
 
     /**
      * 移除noticeType，需要与{@link #showLeftNoticeByType(int, int, String)}成对使用
+     *
      * @param noticeType {@link #NOTICE_TYPE_SUDDENLY_BREAK}...
      */
     void hideLeftNoticeByType(int noticeType);
 
     /**
      * 添加view状态回调监听
+     *
      * @param listener 回调监听
      */
     void addEntranceViewListener(IMogoEntranceViewListener listener);
 
     /**
      * 移除view状态回调监听
+     *
      * @param listener 回调监听
      */
     void removeEntranceViewListener(IMogoEntranceViewListener listener);
+
+    /**
+     * 添加entrance 自动驾驶状态监听
+     *
+     * @param listener {@link IMogoEntranceAutopilotStatusClickListener}
+     */
+    void addEntranceAutopilotStatusClickListener(IMogoEntranceAutopilotStatusClickListener listener);
+
+    /**
+     * 移除entrance 自动驾驶状态监听
+     *
+     * @param listener {@link IMogoEntranceAutopilotStatusClickListener}
+     */
+    void removeEntranceAutopilotStatusClickListener(IMogoEntranceAutopilotStatusClickListener listener);
 }