diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index f4b65292b4..23f6ac1d5b 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -74,7 +74,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
     private Group groupTestPanel;
     private FrameLayout flSpeed;
 //    private BusArcView mouduleArc;
-    private TrafficDataView mouduleArc;
+    private TrafficDataView mTrafficDataView;
     private ImageView mUpgradeTipIv;
     // private BusTrafficLightView mTrafficLightView;
 
@@ -120,7 +120,7 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         tvOperationStatus = findViewById(R.id.module_mogo_och_operation_status);
 
         flSpeed = (FrameLayout) findViewById(R.id.fl_speed);
-        mouduleArc = (TrafficDataView) findViewById(R.id.bus_arc);
+        mTrafficDataView = (TrafficDataView) findViewById(R.id.bus_arc);
 
         panelView = LayoutInflater.from(getContext()).inflate(getStationPanelViewId(), flStationPanelContainer);
         slidePanelView.setOnSlidePanelMoveToEndListener(onSlideToEndListener);
@@ -148,8 +148,8 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
         });
 
         if (DebugConfig.isDebug()) {
-            mouduleArc.setLongClickable(true);
-            mouduleArc.setOnLongClickListener(v -> {
+            mTrafficDataView.setLongClickable(true);
+            mTrafficDataView.setOnLongClickListener(v -> {
                 CallerLogger.INSTANCE.d(M_BUS + TAG, "长按显示状态工具栏");
                 Intent intent = new Intent();
                 intent.putExtra("oper", 52);
@@ -480,11 +480,9 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
      */
     public void updateSpeedView(float newSpeed) {
         int speed = (int) (Math.abs(newSpeed) * 3.6F); // 倒车时工控机反馈定位信息中speed为负值
-        mouduleArc.showWithSpeedValue(speed);
-
-//        mouduleArc.setArcColor(Color.parseColor(speed > 60 ? "#DB3137" : "#3E77F6"));
-//        mouduleArc.setValues(speed);
-//        flSpeed.setBackgroundResource(speed > 60 ? R.drawable.bus_yi_biao_pan_bg_speeding : R.drawable.bus_yi_biao_pan_bg_nor);
+        if (mTrafficDataView != null){
+            mTrafficDataView.updateSpeedWithValue(speed);
+        }
     }
 
     @Override
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 ff9e9558c2..8246bcc13a 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
@@ -151,6 +151,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
             //挂挡档位数据
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
+            //加速度
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }
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 70b6dd7f54..90f6c23382 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
@@ -150,4 +150,9 @@ public class MoGoHandAdasMsgManager implements
     @Override
     public void onAutopilotDataException(long timestamp) {
     }
+
+    @Override
+    public void onAutopilotAcc(float carAcc) {
+
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index d5b6e167e1..67a6be07fb 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -4,15 +4,17 @@ import android.content.*
 import android.util.*
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import kotlinx.coroutines.*
+import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg.MogoReportMessage
 
-internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
+internal class CanImpl(ctx: Context) : IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
 
     companion object {
         const val TAG = "CanImpl"
@@ -67,13 +69,18 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
+    override fun onAutopilotAcc(carAcc: Float) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
 
     private fun timeOutCheck() {
         job?.safeCancel()
         launch(Dispatchers.Default) {
             delay(4000)
             send(CanStatus(false))
-        }.also { job = it  }
+        }.also { job = it }
     }
 
     override fun onDestroy() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 4ea05b2f14..90a078343f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -1835,6 +1835,13 @@ class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    /**
+     * 车辆加速度
+     */
+    override fun onAutopilotAcc(carAcc: Float) {
+        TODO("Not yet implemented")
+    }
+
     /**
      * 吐司提示
      */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
index 4e4f7402fc..a72a6d9c8a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -171,6 +171,15 @@ public class SteeringWheelView extends ConstraintLayout {
             Log.d(TAG, "刹车灯:" + String.valueOf(brakeLight));
         }
 
+        /**
+         * 车辆加速度
+         * @param carAcc
+         */
+        @Override
+        public void onAutopilotAcc(float carAcc) {
+
+        }
+
         /**
          * 方向盘转向角 左+右-
          * @param steering
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
index f63f0f3a3b..ad416c2dab 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -21,6 +21,8 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 
 import org.jetbrains.annotations.NotNull;
 
+import java.math.BigDecimal;
+
 import chassis.Chassis;
 
 /**
@@ -66,6 +68,13 @@ public class TrafficDataView extends ConstraintLayout {
         speedTextView = findViewById(R.id.speedTextView);
         accTextView = findViewById(R.id.speedAccTextView);
     }
+    //onVehicleState
+
+//    @Override
+//    public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
+//        VehicleState base = new VehicleState(header, vehicleState, sdf);
+//        DataDistribution.getInstance().addData(base);
+//    }
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
         /**
@@ -128,6 +137,13 @@ public class TrafficDataView extends ConstraintLayout {
         public void onAutopilotDataException(long timestamp) {
 
         }
+
+        @Override
+        public void onAutopilotAcc(float carAcc) {
+            Log.d(TAG, "加速度:" + carAcc);
+            BigDecimal acc = new BigDecimal(String.valueOf(carAcc)).setScale(2);
+            accTextView.setText(String.valueOf(acc));
+        }
     };
 
     /**
@@ -149,11 +165,15 @@ public class TrafficDataView extends ConstraintLayout {
     }
 
     /**
-     * 车速过快
+     * value呈现
      */
-    public void showWithSpeedValue(int newSpeed) {
-        speedTextView.setText(newSpeed);
-        speedImage.setBackgroundResource(newSpeed > 60 ? R.drawable.traffic_data_speed_warning : R.drawable.traffic_data_speed);
+    public void updateSpeedWithValue(int newSpeed) {
+        if (speedTextView != null) {
+            speedTextView.setText(String.valueOf(newSpeed));
+        }
+        if (speedImage != null) {
+            speedImage.setBackgroundResource(newSpeed > 60 ? R.drawable.traffic_data_speed_warning : R.drawable.traffic_data_speed);
+        }
     }
 
 }
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_bus.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_bus.xml
index 08ae8a038d..f8a7f886e3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_bus.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_bus.xml
@@ -87,7 +87,7 @@
         android:layout_width="@dimen/dp_390"
         android:layout_height="wrap_content"
         android:layout_marginBottom="@dimen/dp_42"
-        app:defaultColor = "@color/bus_p_default_txt_color"
+        app:defaultColor = "@color/p_default_txt_color"
         app:selectColor="@color/bus_p_select_txt_color"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_taxi.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_taxi.xml
index 84eda5f572..d56408fae1 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_taxi.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel_taxi.xml
@@ -88,7 +88,7 @@
         android:layout_width="@dimen/dp_272"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_30"
-        app:defaultColor="@color/taxi_p_default_txt_color"
+        app:defaultColor="@color/p_default_txt_color"
         app:selectColor="@color/dark_mode_select_txt_color"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_tap_position.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_tap_position.xml
index 9d1d739a87..263bee811c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_tap_position.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_tap_position.xml
@@ -12,7 +12,7 @@
         android:gravity="center"
         android:text="P"
         android:textAlignment="center"
-
+        android:textColor="@color/p_default_txt_color"
         android:textSize="@dimen/dp_46"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -27,7 +27,7 @@
         android:gravity="center"
         android:text="R"
         android:textAlignment="center"
-
+        android:textColor="@color/p_default_txt_color"
         android:textSize="@dimen/dp_46"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -42,7 +42,7 @@
         android:gravity="center"
         android:text="N"
         android:textAlignment="center"
-
+        android:textColor="@color/p_default_txt_color"
         android:textSize="@dimen/dp_46"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -57,7 +57,7 @@
         android:gravity="center"
         android:text="D"
         android:textAlignment="center"
-
+        android:textColor="@color/p_default_txt_color"
         android:textSize="@dimen/dp_46"
         android:textStyle="bold"
         app:layout_constraintBottom_toBottomOf="parent"
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 7c78ee5f7e..4cd3c89abf 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
@@ -62,8 +62,7 @@
     <color name="hmi_clear_00">#00FFFFFF</color>
     <color name="acc_default_txt_color">#FF343C63</color>
     <color name="bus_p_select_txt_color">#0043FF</color>
-    <color name="bus_p_default_txt_color">#6E8EC9</color>
-    <color name="taxi_p_default_txt_color">#FF6E8EC9</color>
+    <color name="p_default_txt_color">#FF6E8EC9</color>
     <color name="dark_mode_select_txt_color">#FFFFFFFF</color>
 
 </resources>
\ No newline at end of file
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 bca93e135e..7d6520926d 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
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.Chassis
+import mogo.telematics.pad.MessagePad
 
 /**
  * 车辆底盘 数据 回调监听
@@ -36,4 +37,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * 没有自车状态数据
      */
     fun onAutopilotDataException(timestamp: Long){}
+
+    /**
+     * 车辆加速度
+     */
+    fun onAutopilotAcc(carAcc: Float)
 }
\ 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 37653bb62d..3c5fef077a 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
@@ -4,6 +4,7 @@ import androidx.annotation.Nullable
 import chassis.Chassis
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -100,6 +101,18 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * 车辆加速度
+     * acc 加速度
+     */
+    fun invokeAutopilotAcc(carAcc: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotAcc(carAcc)
+        }
+    }
+
+
     /**
      * 工控机时间回调
      */