diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseOchBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseOchBusTabFragment.java
index 8edd69b9a1..cf9f317208 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseOchBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseOchBusTabFragment.java
@@ -1,14 +1,12 @@
 package com.mogo.och.bus.fragment;
 
 import android.animation.ObjectAnimator;
-import android.annotation.SuppressLint;
 import android.content.Intent;
 import android.graphics.Color;
 import android.util.Log;
 import android.view.LayoutInflater;
 import android.view.View;
 import android.view.animation.LinearInterpolator;
-import android.widget.CheckedTextView;
 import android.widget.FrameLayout;
 import android.widget.ImageView;
 import android.widget.LinearLayout;
@@ -24,9 +22,9 @@ import com.mogo.commons.mvp.MvpFragment;
 import com.mogo.commons.mvp.Presenter;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.listener.IMogoMapListener;
 import com.mogo.map.uicontroller.VisualAngleMode;
@@ -159,7 +157,7 @@ public abstract class BaseOchBusTabFragment<V extends IView, P extends Presenter
                 return true;
             });
         }
-        onAutopilotStatusChanged(MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus(),false);
+        onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState(),false);
         // 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
         findViewById(R.id.btnAutopilotDisable).setOnClickListener(view ->
 //                MogoApisHandler.getInstance().getApis()
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
index 367f417ac0..9673c91ce4 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
@@ -12,6 +12,7 @@ import com.mogo.commons.AbsMogoApplication;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.map.marker.MogoMarkerOptions;
@@ -88,9 +89,9 @@ public class OchBusFragment extends BaseOchBusTabFragment< OchBusFragment, OchBu
             mPresenter.onAutopilotArriveAtStation(null);
         });
 
-        Logger.d( TAG, "initView: " + MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus() );
+        Logger.d( TAG, "initView: " + CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
         // 初始化的时候设置 UI 按钮状态
-        switch ( MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus() ) {
+        switch ( CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() ) {
             case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
                 hideAutopilotBiz();
                 break;
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusOrderModel.java
index 60e6cc4475..1cb2abe29a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/OchBusOrderModel.java
@@ -18,6 +18,7 @@ import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.mogo.toast.TipToast;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
@@ -631,7 +632,7 @@ public class OchBusOrderModel {
         if ( lastStopStation <= nextStopStation || nextStopStation <= currentStationIndex ) {
             return;
         }
-        if ( MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus()
+        if ( CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState()
                 == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING ) {
             // 自动驾驶中动态设置下一个停靠站点/
             autoDriveToNextStation( true );
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/BaseOchTaxiTabFragment.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/BaseOchTaxiTabFragment.java
index 34fd3a36b0..dc6d37d710 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/BaseOchTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/ui/BaseOchTaxiTabFragment.java
@@ -27,6 +27,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -152,7 +153,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
 //            });
 //        }
 
-        onAutopilotStatusChanged(MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus());
+        onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
 
         // 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
 //        findViewById(R.id.btnAutopilotDisable).setOnClickListener(view ->
@@ -334,7 +335,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
             @Override
             public void run() {
                 startOrStopLoadingAnim(false);
-                onAutopilotStatusChanged(MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus());
+                onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
             }
         }, 1000L);
     }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseOchTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseOchTaxiTabFragment.java
index 8055221bcd..a59c0d9cda 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseOchTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseOchTaxiTabFragment.java
@@ -27,6 +27,7 @@ import com.mogo.commons.voice.AIAssist;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiManager;
 import com.mogo.eagle.core.function.call.map.CallerSmpManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -150,7 +151,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
 //            });
 //        }
 
-        onAutopilotStatusChanged(MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus());
+        onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
 
         // 模拟 不可自动驾驶，目前场景是刚开机，adas还未和工控机连接
 //        findViewById(R.id.btnAutopilotDisable).setOnClickListener(view ->
@@ -326,7 +327,7 @@ public abstract class BaseOchTaxiTabFragment<V extends IView, P extends Presente
             @Override
             public void run() {
                 startOrStopLoadingAnim(false);
-                onAutopilotStatusChanged(MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus());
+                onAutopilotStatusChanged(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
             }
         }, 1000L);
     }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index 9e23a8788c..f93a41f096 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -28,7 +28,6 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
 import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.module.adas.model.AdasServiceModel;
 import com.mogo.module.common.drawer.IdentifyDataDrawer;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasMsgConnectStatusListener;
 import com.zhidao.support.adas.high.bean.BasicInfo;
@@ -62,8 +61,6 @@ public class AdasEventManager implements
     private int mCurrentAutopilotStatus = -1;
     //自动驾驶车速度
     private float mCurrentAutopilotSpeed = 0;
-    //自动驾驶状态
-    private AutopilotStatusInfo mAutopilotValuesStatus = null;
 
 
     private AdasEventManager() {
@@ -154,23 +151,12 @@ public class AdasEventManager implements
         AdasServiceModel.getInstance().reportSite(lon, lat);
     }
 
-    public AdasAIDLAutopilotStateModel autopilotStateCall() {
-        AdasAIDLAutopilotStateModel adasAIDLAutopilotStateModel = new AdasAIDLAutopilotStateModel();
-        if (mAutopilotValuesStatus != null) {
-            adasAIDLAutopilotStateModel.setSpeed(mAutopilotValuesStatus.getSpeed());
-            adasAIDLAutopilotStateModel.setState(mAutopilotValuesStatus.getState());
-            adasAIDLAutopilotStateModel.setReason(mAutopilotValuesStatus.getReason());
-        }
-        return adasAIDLAutopilotStateModel;
-    }
-
     @Override
     public void onAutopilotStatusResponse(@NonNull AutopilotStatusInfo autoPilotStatusInfo) {
         int state = autoPilotStatusInfo.getState();
         float speed = autoPilotStatusInfo.getSpeed();
         mCurrentAutopilotStatus = state;
         mCurrentAutopilotSpeed = speed;
-        this.mAutopilotValuesStatus = autoPilotStatusInfo;
         for (IAdasDataListener listener : iAdasEventListeners) {
             if (listener != null) {
                 listener.notifyAutopilotState(autoPilotStatusInfo);
@@ -184,11 +170,6 @@ public class AdasEventManager implements
             double lon = autopilotWayArrive.getLon();
             double lat = autopilotWayArrive.getLat();
             reportSite(lon, lat);
-            for (IAdasDataListener listener : iAdasEventListeners) {
-                if (listener != null) {
-                    listener.autopilotArrive(autopilotWayArrive);
-                }
-            }
         }
     }
 
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
index 547f80bbd8..7130cdeb32 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasProvider.java
@@ -7,7 +7,6 @@ import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.eagle.core.data.config.FunctionBuildConfig;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
-import com.zhidao.autopilotservice.model.AdasAIDLAutopilotStateModel;
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.common.CupidLogUtils;
 
@@ -65,7 +64,4 @@ public class AdasProvider implements IProvider {
         AdasManager.getInstance().aiCloudToAdasData(msg);
     }
 
-    public AdasAIDLAutopilotStateModel autopilotStateCall() {
-        return adasEventManager.autopilotStateCall();
-    }
 }
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
index abfab84fe1..880297c08f 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/IAdasDataListener.java
@@ -1,18 +1,9 @@
 package com.mogo.module.adas;
 
-import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
-import com.mogo.eagle.core.data.autopilot.AutopilotWarnMessage;
 
 public interface IAdasDataListener {
 
-    /**
-     * 自动驾驶到达站点回调接口
-     *
-     * @param autopilotWayArrive
-     */
-    default void autopilotArrive(AutopilotStationInfo autopilotWayArrive) {
-    }
 
     /**
      * 自车定位信息
diff --git a/modules/mogo-module-main/src/main/java/com/mogo/module/main/monitoring/VehicleMonitoring.java b/modules/mogo-module-main/src/main/java/com/mogo/module/main/monitoring/VehicleMonitoring.java
index d008aa67c6..35d3450b1e 100644
--- a/modules/mogo-module-main/src/main/java/com/mogo/module/main/monitoring/VehicleMonitoring.java
+++ b/modules/mogo-module-main/src/main/java/com/mogo/module/main/monitoring/VehicleMonitoring.java
@@ -6,9 +6,9 @@ import android.os.Handler;
 import android.os.Message;
 import android.util.Log;
 
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.check.CallerCheckManager;
-import com.mogo.module.common.MogoApisHandler;
-import com.mogo.service.adas.IMogoAdasOCHCallback;
 
 /**
  * @author liujing
@@ -25,14 +25,14 @@ public class VehicleMonitoring implements Handler.Callback {
     //非自动驾驶测试数据 后期根据需求做修改
     private static final long MANUAL_CHECK_STATUS_DELAY = 30 * 1000;
     //自动驾驶状态
-    private static int AutopilotStatus = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus();
+    private static int AutopilotStatus = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
 
     public VehicleMonitoring(Context context) {
         mContext = context;
     }
 
     public void vehicleCheck() {
-        if (AutopilotStatus == IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING) {
+        if (AutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
             Log.d(TAG, "自动驾驶中...");
             mHandler.sendEmptyMessageDelayed(AutopilotStatus, AUTO_CHECK_STATUS_DELAY);
         } else {
@@ -44,14 +44,14 @@ public class VehicleMonitoring implements Handler.Callback {
 
     @Override
     public boolean handleMessage(Message msg) {
-        AutopilotStatus = MogoApisHandler.getInstance().getApis().getAdasControllerApi().getAutopilotStatus();
+        AutopilotStatus = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
         switch (msg.what) {
-            case IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING:
+            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
                 vehicleMonitor();
                 mHandler.sendEmptyMessageDelayed(AutopilotStatus, AUTO_CHECK_STATUS_DELAY);
                 return true;
-            case IMogoAdasOCHCallback.STATUS_AUTOPILOT_DISABLE:
-            case IMogoAdasOCHCallback.STATUS_AUTOPILOT_ENABLE:
+            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
+            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
                 vehicleMonitor();
                 mHandler.sendEmptyMessageDelayed(AutopilotStatus, MANUAL_CHECK_STATUS_DELAY);
                 return true;
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
index 8f81ca34b3..5942b22f09 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoADASController.java
@@ -33,27 +33,6 @@ public interface IMogoADASController extends IProvider {
      */
     void setAdasCarDataCallback(IMogoAdasCarDataCallback carDataCallback);
 
-    /**
-     * 自动驾驶状态通知
-     *
-     * @param callback
-     */
-    void addAdasOCHCallback(IMogoAdasOCHCallback callback);
-
-    /**
-     * 移除自动驾驶通知
-     */
-    void removeAdasOCHCallback();
-
-
-    /**
-     * 获取车辆自动驾驶状态
-     *
-     * @return
-     */
-    @Deprecated
-    int getAutopilotStatus();
-
     /**
      * 获取车身的定位纬度
      *
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index fa201b7dee..d9160ef0c4 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -9,7 +9,6 @@ import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.autopilot.AutopilotCarStateInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlCmdParameter;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.constants.MogoServicePaths;
 import com.mogo.eagle.core.network.utils.GsonUtil;
@@ -67,24 +66,6 @@ public class MogoADASController implements IMogoADASController {
         if (mAdasDataListener == null) {
             mAdasDataListener = new IAdasDataListener() {
 
-                @Override
-                public void autopilotArrive(AutopilotStationInfo autopilotArriveModel) {
-                    if (autopilotArriveModel == null) {
-                        Logger.d(TAG, "autopilotArrive autopilotArriveModel is null");
-                        return;
-                    }
-                    if (!mAdasOCHCallback.isEmpty()) {
-                        for (IMogoAdasOCHCallback cb : mAdasOCHCallback) {
-                            cb.onArriveAt(new AutopilotStationInfo(
-                                    autopilotArriveModel.getType(),
-                                    autopilotArriveModel.getLon(),
-                                    autopilotArriveModel.getLat())
-                            );
-                        }
-                    }
-                }
-
-
                 @Override
                 public void ownerCarStateInfo(String ownerCarStateInfo) {
                     // 接收 adas 定位数据线程
@@ -141,30 +122,6 @@ public class MogoADASController implements IMogoADASController {
         mMogoAdasCarDataCallback = carDataCallback;
     }
 
-    @Override
-    public void addAdasOCHCallback(IMogoAdasOCHCallback callback) {
-        if (mAdasOCHCallback.contains(callback)) {
-            return;
-        }
-        mAdasOCHCallback.add(callback);
-    }
-
-    @Override
-    public void removeAdasOCHCallback() {
-        mAdasOCHCallback.clear();
-    }
-
-    @Override
-    public int getAutopilotStatus() {
-        int status = IMogoAdasOCHCallback.STATUS_AUTOPILOT_DISABLE;
-        try {
-            status = adasProvider.autopilotStateCall().getState();
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-        return status;
-    }
-
 }