diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt
index afbffa060d..d07607e4cf 100644
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotManager.kt
@@ -96,7 +96,7 @@ object OchAutoPilotManager {
     @JvmStatic
     fun startAutoPilot(controlParameters: AutopilotControlParameters?): Long {
         val sessionId = CallerAutoPilotControlManager.startAutoPilot(controlParameters)
-        globalSessionId.set(SessionWithTime(sessionId,System.currentTimeMillis()))
+        globalSessionId.set(SessionWithTime(sessionId,System.currentTimeMillis(),-1L))
         OchAutoPilotStatusListenerManager.fsmBackSessionId.set(-1L)
         OchAutopilotAnalytics.triggerStartAutopilotParameters(controlParameters, sessionId)
         return sessionId
@@ -116,4 +116,15 @@ object OchAutoPilotManager {
             }
         }
     }
+
+    fun setAckTimeWithSessionId(msgId: Long, receiveTime: Long) {
+        if(msgId == globalSessionId.get().sessionId){
+            globalSessionId.get().ackTime = receiveTime
+        }
+    }
+
+    fun getSessionidAndAcktime():Pair<Long,Long>{
+        val sessionInfo = globalSessionId.get() ?: return Pair(-1L,-1L)
+        return Pair(sessionInfo.sessionId, sessionInfo.ackTime)
+    }
 }
\ No newline at end of file
diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
index 4292c4d9a4..c13e508984 100644
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutoPilotStatusListenerManager.kt
@@ -280,8 +280,8 @@ object OchAutoPilotStatusListenerManager : CallerBase<IOchAutopilotStatusListene
                 receivedAck.toString(),
                 receivedAck.status == Status.NORMAL
             )
-            if(receivedAck.status==Status.NORMAL){
-                // 底盘接受成功
+            if(receivedAck.status==Status.NORMAL){ // 底盘接受成功
+                OchAutoPilotManager.setAckTimeWithSessionId(receivedAck.msgId, receivedAck.receiveTime,)
                 LineManager.invokeStartAutopilotAckSuccess(receivedAck)
             }
         }
diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutopilotAnalytics.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutopilotAnalytics.kt
index 04a022858d..3734f372b6 100644
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutopilotAnalytics.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/OchAutopilotAnalytics.kt
@@ -215,7 +215,13 @@ object OchAutopilotAnalytics {
             mStartAutopilotParams[EVENT_PARAM_ORDER_NUMBER] = orderId?:""
             RxUtils.disposeSubscribe(timeOutDisposable)
             timeOutDisposable = RxUtils.createSubscribe(LOOP_PERIOD_15S) {
-                triggerStartAutopilotFailureEvent("", "15s后app等待超时", System.currentTimeMillis())
+                val (sessionId, ackTime) = OchAutoPilotManager.getSessionidAndAcktime()
+                if(sessionId==-1L||ackTime==-1L){
+                    OchAutoPilotManager.clearGlobalSessionId("sessionId:${sessionId}, ackTime:${ackTime}")
+                    clearStartAutopilotParams() //清空参数数据，防止误传
+                }else{
+                    triggerStartAutopilotFailureEvent("", "15s后app等待超时", System.currentTimeMillis())
+                }
                 LineManager.invokeStartAutopilotTimeOut()
             }
         }
diff --git a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/bean/SessionWithTime.kt b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/bean/SessionWithTime.kt
index 0810aeee06..b6f9e4120c 100644
--- a/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/bean/SessionWithTime.kt
+++ b/OCH/common/bridge/src/main/java/com/mogo/och/bridge/autopilot/autopilot/bean/SessionWithTime.kt
@@ -1,3 +1,3 @@
 package com.mogo.och.bridge.autopilot.autopilot.bean
 
-data class SessionWithTime(val sessionId:Long,val setTime:Long)
+data class SessionWithTime(val sessionId:Long,val setTime:Long,var ackTime:Long)