diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
index e05daddd00..0173533e1e 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/presenter/BaseTaxiPassengerPresenter.java
@@ -15,6 +15,7 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerOrderQueryRespBean;
 import com.mogo.och.taxi.passenger.bean.TaxiPassengerScoreUpdateOrderReqBean;
 import com.mogo.och.taxi.passenger.callback.IOCHTaxiPassengerADASStatusCallback;
@@ -27,8 +28,6 @@ import com.mogo.och.taxi.passenger.model.TaxiPassengerModel;
 import com.mogo.och.taxi.passenger.ui.TaxiPassengerBaseFragment;
 import com.mogo.och.taxi.passenger.ui.leftmenu.LeftMenuOpen;
 
-import mogo.telematics.pad.MessagePad;
-
 /**
  * @author: wangmingjun
  * @date: 2022/3/4
@@ -44,6 +43,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
     public BaseTaxiPassengerPresenter(TaxiPassengerBaseFragment view) {
         super(view);
         TaxiPassengerModel.getInstance().init(AbsMogoApplication.getApp());
+        OCHAdasAbilityManager.getInstance().init(AbsMogoApplication.getApp());
         initListeners();
     }
 
@@ -59,6 +59,7 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
 
         releaseListeners();
         TaxiPassengerModel.getInstance().release();
+        OCHAdasAbilityManager.getInstance().release();
     }
 
     private void initListeners() {
@@ -162,11 +163,11 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
         // 70 取消订单
         if (TaxiPassengerOrderStatusEnum.Cancel.getCode() == order.orderStatus){
             runOnUIThread(() -> {
-                        mView.showOrHideServingOrderFragment(false,true);
-                        mView.showOrHideStartAutopilotView(false,false);
-                        mView.showOrHidePressengerCheckPager(false, "",
-                                "", "", "", "");
-                        mView.showOrHideArrivedEndLayout(false,"","");
+                mView.showOrHideServingOrderFragment(false,true);
+                mView.showOrHideStartAutopilotView(false,false);
+                mView.showOrHidePressengerCheckPager(false, "",
+                        "", "", "", "");
+                mView.showOrHideArrivedEndLayout(false,"","");
             });
             TaxiPassengerModel.getInstance().recoverNaviInfo();
             TaxiPassengerGeocodeSearchModel.getInstance(getContext()).destroyGeocodeSearch();
@@ -200,7 +201,6 @@ public class BaseTaxiPassengerPresenter extends Presenter<TaxiPassengerBaseFragm
                 mView.showOrHideServingOrderFragment(true,true);
             });
             TaxiPassengerModel.getInstance().startOrStopReadyToAutopilotLoop(false);
-            CallerSmpManager.startQueryV2XEvents();//全览模式的V2X事件轮询开始
         }
         // 30 用户到达上车点 并通过了手机号后四位验证
         // 40 服务中
diff --git a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
index dc56ac3fc9..f67a2ee02a 100644
--- a/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
+++ b/app_ipc_monitoring/src/main/java/com/zhidao/adas/client/bean/BaseInfo.java
@@ -11,10 +11,12 @@ public abstract class BaseInfo {
     public final long nowTime;
     public final MessagePad.Header header;
     public final int len;
+    public final int payloadLen;
     private SimpleDateFormat sdf;
 
     public BaseInfo(String action, int len, MessagePad.Header header, SimpleDateFormat sdf) {
         this.action = action;
+        this.payloadLen = len;
         nowTime = System.currentTimeMillis();
         this.len = 8 + header.getSerializedSize() + len;
         this.header = header;
@@ -25,12 +27,13 @@ public abstract class BaseInfo {
         this.action = action;
         nowTime = System.currentTimeMillis();
         this.len = len;
+        this.payloadLen = len;
         this.header = null;
     }
 
     @Override
     public String toString() {
-        return "原始数据长度：" + len + "\nHeader:[" + "MessageID:" + header.getMsgID() +
+        return "原始数据长度：" + len + "\tPayload数据长度：" + payloadLen + "\nHeader:[" + "MessageID:" + header.getMsgID() +
                 " MessageType:" + header.getMsgType() + " 发送时间:" + sdf.format(new Date((long) (header.getTimestamp() * 1000)))
                 + " 数据源时间:" + sdf.format(new Date((long) (header.getSourceTimestamp() * 1000))) + "]\n";
     }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
index 26d38467f5..733e87d82a 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
@@ -137,7 +137,8 @@ public class AutopilotAbilityManager {
                     }
                 }
             }
-            if (version > 1) {
+            //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
+            if (version > 1 && statusInfo.hasAutoPilotReady()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -150,12 +151,12 @@ public class AutopilotAbilityManager {
                             if (state < NODE_INFO_STATE.length) {
                                 builder.append(NODE_INFO_STATE[state]);
                             } else {
-                                builder.append("未知 ");
+                                builder.append("未知异常 ");
                             }
                         }
                         unableAutopilotReason = builder.toString();
                     } else {
-                        unableAutopilotReason = "未知";
+                        unableAutopilotReason = "未知异常节点";
                     }
                 }
             } else {
@@ -169,7 +170,9 @@ public class AutopilotAbilityManager {
                     } else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) {
                         unableAutopilotReason = "系统异常";
                     } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) {
-                        unableAutopilotReason = "正在开始自动驾驶";
+                        //如果第一次下发了启动自动驾驶，没起来或者存在干预 此时systemState是AUTO_PILOT_STARTING 需要二次下发启动自驾命令 所以需要排除此状态
+                        isAutopilotAbility = true;
+                        //unableAutopilotReason = "正在开始自动驾驶";
                     } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) {
                         unableAutopilotReason = "自动驾驶运行中";
                     } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) {
@@ -177,7 +180,7 @@ public class AutopilotAbilityManager {
                     } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) {
                         unableAutopilotReason = "平行驾驶运行中";
                     } else {
-                        unableAutopilotReason = "未知";
+                        unableAutopilotReason = "未知系统状态";
                     }
                 }
             }