diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
index e653e9fe7b..35fdb8aa83 100644
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/ui/autopilot/AutopilotStateModel.kt
@@ -150,10 +150,14 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
                         }
 
                         IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
-                            if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
-                                this.viewCallback?.canStartAutopilot()
-                            } else {// 部分可用
+                            if (AppIdentityModeUtils.getCockpitType() == CockpitType.UNMANNED) {
                                 this.viewCallback?.canStartAutopilot()
+                            }else{
+                                if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                                    this.viewCallback?.canStartAutopilot()
+                                } else {// 部分可用
+                                    this.viewCallback?.canStartAutopilot()
+                                }
                             }
                         }
 
@@ -203,10 +207,14 @@ class AutopilotStateModel : ViewModel(), IOchAutopilotStatusListener, ILineCallb
                     }
 
                     IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {
-                        if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                        if (AppIdentityModeUtils.getCockpitType() == CockpitType.UNMANNED) {
                             this.viewCallback?.canStartAutopilot()
-                        } else {// 部分可用
-                            this.viewCallback?.autopilotDisable()
+                        }else{
+                            if (CallerAutoPilotControlManager.isCanStartAutopilot(false) && OchAutoPilotStatusListenerManager.canStartAutopilotFromFSM) {// 不可用
+                                this.viewCallback?.canStartAutopilot()
+                            } else {// 部分可用
+                                this.viewCallback?.autopilotDisable()
+                            }
                         }
                     }
 
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java
index 3833d2f1aa..7071442388 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/dto/cmd/TaskStartNotification.java
@@ -126,11 +126,10 @@ public class TaskStartNotification {
     }
 
     public boolean isCloseDoorStartAuto(){
-        if(Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskStartNotification.getCode()) ||
-                Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskContinueNotification.getCode()) ){
-            return false;
+        if(Objects.equals(lastTaskCmdType, MessageCmdEnum.TaskContinueByDoorClosed.getCode())){
+            return true;
         }
-        return true;
+        return false;
     }
 
 
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java
index 20196dfd8b..b6f38936d4 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/unmanned/task/enums/MessageCmdEnum.java
@@ -18,6 +18,8 @@ public enum MessageCmdEnum {
 
     TaskStartNotification("TaskStartNotification", "自驾/离站结果回执"),
 
+    TaskContinueByDoorClosed("TaskContinueByDoorClosed", "通过关门来出发"),
+
     TaskArrivalNotification("TaskArrivalNotification", "到站通知"),
 
     TaskAbortNotification("TaskAbortNotification", "任务终止"),