diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
index 98e0ae30c6..b3c2b9de4c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
@@ -50,6 +50,8 @@ class ParallelDriveView @JvmOverloads constructor(
     //1:ready, 2:自动驾驶中, 7:平行驾驶中
     @Volatile
     private var autopilotState: Int = 1
+    @Volatile
+    private var isAutoDriving: Boolean = false
 
     // 初始状态为0
     private var state: Int = 0
@@ -107,16 +109,25 @@ class ParallelDriveView @JvmOverloads constructor(
                 when (state) {
                     7 -> {
                         if (this.autopilotState != 7) {
+                            isAutoDriving = false
                             ThreadUtils.runOnUiThread({
                                 updateUI(PARALLEL_DRIVING)
                             }, ThreadUtils.MODE.QUEUE)
                         }
                     }
+                    2 -> {
+                        if (this.autopilotState != state) {
+                            isAutoDriving = true
+                        }
+                    }
                     else -> {
-                        if (this.autopilotState == 7 && this.autopilotState != state) {
-                            ThreadUtils.runOnUiThread({
-                                checkAvailableAndUpdateUI()
-                            }, ThreadUtils.MODE.QUEUE)
+                        if (this.autopilotState != state) {
+                            isAutoDriving = false
+                            if (this.autopilotState == 7) {
+                                ThreadUtils.runOnUiThread({
+                                    checkAvailableAndUpdateUI()
+                                }, ThreadUtils.MODE.QUEUE)
+                            }
                         }
                     }
                 }
@@ -177,16 +188,6 @@ class ParallelDriveView @JvmOverloads constructor(
         }
     }
 
-    private fun isAvailable(unableAutopilotReasons: ArrayList<UnableLaunchReason>?): Boolean {
-        var unavailable = false
-        unableAutopilotReasons?.forEach {
-            if (it.source.ordinal == SourceType.CHASSIS.ordinal) {
-                unavailable = true
-            }
-        }
-        return !unavailable
-    }
-
     @SuppressLint("UseCompatLoadingForDrawables")
     private fun updateUI(state: Int) {
         when (state) {
@@ -330,12 +331,17 @@ class ParallelDriveView @JvmOverloads constructor(
     }
 
     private fun checkAvailableAndUpdateUI() {
-        if (CallerParallelDrivingActionsListenerManager.isParallelDrivingAbility()) {
+        if (isAutoDriving) {
             state = 0
             updateUI(0)
         } else {
-            state = UNAVAILABLE
-            updateUI(UNAVAILABLE)
+            if (CallerParallelDrivingActionsListenerManager.isParallelDrivingAbility()) {
+                state = 0
+                updateUI(0)
+            } else {
+                state = UNAVAILABLE
+                updateUI(UNAVAILABLE)
+            }
         }
     }