diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
index 78302bbc04..ecb502ef85 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/dispatch/DispatchAutoPilotManager.java
@@ -1,9 +1,5 @@
 package com.mogo.module.service.dispatch;
 
-import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIRM;
-import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
-import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
-
 import android.content.Context;
 import android.location.Location;
 import android.os.Handler;
@@ -12,12 +8,16 @@ import android.os.Message;
 import com.mogo.cloud.commons.utils.CoordinateUtils;
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
+import com.mogo.eagle.core.data.autopilot.AutopilotGuardianStatusInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
 import com.mogo.eagle.core.data.map.MogoLatLng;
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener;
 import com.mogo.eagle.core.function.api.hmi.autopilot.IMoGoCheckAutoPilotBtnListener;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListenerManager;
 import com.mogo.eagle.core.function.call.hmi.CallerHmiListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
@@ -27,16 +27,22 @@ import com.mogo.module.service.dispatch.bean.DispatchAdasAutoPilotLocReceiverBea
 import com.mogo.module.service.dispatch.model.DispatchServiceModel;
 import com.mogo.module.service.dispatch.model.IDispatch;
 import com.mogo.service.IMogoServiceApis;
-import com.mogo.service.adas.IMogoAdasOCHCallback;
 import com.mogo.service.cloud.socket.IMogoOnMessageListener;
 
+import org.jetbrains.annotations.NotNull;
+import org.jetbrains.annotations.Nullable;
+
 import java.util.ArrayList;
 import java.util.List;
 
+import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_AFFIRM;
+import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_MANUAL_CANCEL;
+import static com.mogo.module.service.dispatch.model.DispatchServiceModel.DISPATCH_RESULT_TIMER_CANCEL;
+
 //负责监听自动驾驶状态并进行状态上报，自动驾驶路线上报，接收调度指令展示指令弹窗
 public class DispatchAutoPilotManager implements IMogoOnMessageListener<DispatchAdasAutoPilotLocReceiverBean>
-        , IDispatchRemindClickListener, IMogoCarLocationChangedListener2, IMogoAdasOCHCallback,
-        IMoGoCheckAutoPilotBtnListener, IMoGoAutopilotPlanningListener {
+        , IDispatchRemindClickListener, IMogoCarLocationChangedListener2,
+        IMoGoCheckAutoPilotBtnListener, IMoGoAutopilotPlanningListener, IMoGoAutopilotStatusListener {
 
     private static final String TAG = "DispatchAutoPilotManager";
     private static volatile DispatchAutoPilotManager instance;
@@ -98,15 +104,26 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
         mApis.getSocketManagerApi(context).registerOnMessageListener(MSG_SOCKET_TYPE, this);
         mApis.getRegisterCenterApi()
                 .registerCarLocationChangedListener(TAG, this);
-        mApis.getAdasControllerApi()
-                .addAdasOCHCallback(this);
+        // 添加自动驾驶按钮选中监听
         CallerHmiListenerManager.INSTANCE.addCheckAutoPilotBtnListener(TAG, this);
+        // 添加 规划路径相关回调 监听
         CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, this);
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.INSTANCE.addListener(TAG, this);
         dispatchDialogManager = DispatchDialogManager.getInstance(context);
         dispatchDialogManager.addIDispatchRemindListener(this);
         handler.sendEmptyMessageDelayed(MSG_TYPE_UPLOAD_AUTOPILOT_STATUS, 1000L);
     }
 
+    public void release() {
+        // 添加自动驾驶按钮选中监听
+        CallerHmiListenerManager.INSTANCE.removeCheckAutoPilotBtnListener(TAG);
+        // 添加 规划路径相关回调 监听
+        CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(TAG);
+        // 添加 ADAS状态 监听
+        CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(TAG);
+    }
+
     @Override
     public Class<DispatchAdasAutoPilotLocReceiverBean> target() {
         return DispatchAdasAutoPilotLocReceiverBean.class;
@@ -195,34 +212,6 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
 
     }
 
-    @Override
-    public void onArriveAt(AutopilotStationInfo data) {
-        if(!isDispatch){
-            return;
-        }
-        if(data == null){
-            return;
-        }
-        Logger.d(TAG, "onArriveAt data : " + data.toString());
-        double endLat = data.getLat();
-        double endLon = data.getLon();
-        // 计算是不是到了终点
-        float distanceFromSelf = CoordinateUtils.calculateLineDistance(receiverBean.getEndLon(), receiverBean.getEndLat()
-                , endLon, endLat);
-        Logger.d(TAG, "onArriveAt cal distance : " + distanceFromSelf);
-        if (distanceFromSelf < 10) {
-            Logger.d(TAG, "onArriveAt end location");
-            isDispatch = false;
-            isArriveEnd = true;
-        }
-    }
-
-    @Override
-    public void onStateChanged(int state, String reason) {
-        autoPilotStatus = state;
-        this.reason = reason;
-    }
-
     @Override
     public void onCheck(boolean isChecked) {
         if (isChecked) {
@@ -302,4 +291,42 @@ public class DispatchAutoPilotManager implements IMogoOnMessageListener<Dispatch
         }
         DispatchServiceModel.getInstance().uploadAutopilotRoute(autopilotRoute.getModels());
     }
+
+    @Override
+    public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autoPilotStatusInfo) {
+        autoPilotStatus = autoPilotStatusInfo.getState();
+        this.reason = autoPilotStatusInfo.getReason();
+    }
+
+    @Override
+    public void onAutopilotArriveAtStation(@Nullable AutopilotStationInfo autopilotWayArrive) {
+        if (!isDispatch) {
+            return;
+        }
+        if (autopilotWayArrive == null) {
+            return;
+        }
+        Logger.d(TAG, "onArriveAt data : " + autopilotWayArrive.toString());
+        double endLat = autopilotWayArrive.getLat();
+        double endLon = autopilotWayArrive.getLon();
+        // 计算是不是到了终点
+        float distanceFromSelf = CoordinateUtils.calculateLineDistance(receiverBean.getEndLon(), receiverBean.getEndLat()
+                , endLon, endLat);
+        Logger.d(TAG, "onArriveAt cal distance : " + distanceFromSelf);
+        if (distanceFromSelf < 10) {
+            Logger.d(TAG, "onArriveAt end location");
+            isDispatch = false;
+            isArriveEnd = true;
+        }
+    }
+
+    @Override
+    public void onAutopilotSNRequest() {
+
+    }
+
+    @Override
+    public void onAutopilotGuardian(@Nullable AutopilotGuardianStatusInfo guardianInfo) {
+
+    }
 }
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 a68196aa71..8f81ca34b3 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
@@ -2,7 +2,6 @@ package com.mogo.service.adas;
 
 import com.alibaba.android.arouter.facade.template.IProvider;
 import com.mogo.eagle.core.data.autopilot.AutopilotControlParameters;
-import com.mogo.map.uicontroller.EnumMapUI;
 
 /**
  * @author congtaowang
@@ -52,6 +51,7 @@ public interface IMogoADASController extends IProvider {
      *
      * @return
      */
+    @Deprecated
     int getAutopilotStatus();
 
     /**
diff --git a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
index 08475f53a9..5d87b368d2 100644
--- a/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
+++ b/services/mogo-service-api/src/main/java/com/mogo/service/adas/IMogoAdasOCHCallback.java
@@ -5,7 +5,7 @@ import com.mogo.eagle.core.data.autopilot.AutopilotStationInfo;
 /**
  * @author congtaowang
  * @since 2021/1/18
- *
+ * <p>
  * 自动驾驶到站回调
  */
 public interface IMogoAdasOCHCallback {
@@ -26,14 +26,20 @@ public interface IMogoAdasOCHCallback {
 
     /**
      * 到站
+     *
      * @param data 所到车站的简单信息
+     * @see com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener#onAutopilotArriveAtStation
      */
-    void onArriveAt( AutopilotStationInfo data );
+    @Deprecated
+    void onArriveAt(AutopilotStationInfo data);
 
     /**
      * 自动驾驶状态发生改变
-     * @param state {@link #STATUS_AUTOPILOT_DISABLE}
+     *
+     * @param state  {@link #STATUS_AUTOPILOT_DISABLE}
      * @param reason 不能自动驾驶的原因
+     * @see com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener#onAutopilotStatusResponse
      */
+    @Deprecated
     void onStateChanged(int state, String reason);
 }