diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
index 2531708c98..0d99c13553 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/TakeOverView.kt
@@ -26,6 +26,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
 import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.SoundPoolUtils
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
+import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.bean.MogoReport
 import mogo.yycp.paralleldriving.protocol.ParallelTaskProcessNoticeOuterClass
 import mogo_msg.MogoReportMsg
@@ -81,6 +82,41 @@ class TakeOverView @JvmOverloads constructor(
                     return@let
                 }
                 when (it.code) {
+                    MogoReport.Code.Error.EVEHICLE.IN_TROUBLE -> {
+                        if(!isParallel){
+                            CallerHmiManager.warningV2X(
+                                EventTypeEnumNew.EVEHICLE_IN_TROUBLE.poiType,
+                                EventTypeEnumNew.EVEHICLE_IN_TROUBLE.content,
+                                null,
+                                object : IMoGoWarningStatusListener {
+                                    override fun onShow() {
+                                        takeOver = true
+                                        ThreadUtils.runOnUiThread{
+                                            ToastUtils.showLong(EventTypeEnumNew.EVEHICLE_IN_TROUBLE.content)
+                                            visibility = View.VISIBLE
+                                        }
+                                        //加入消息盒子
+                                        saveMsgBox(
+                                            MsgBoxBean(
+                                                MsgBoxType.V2X, V2XMsg(
+                                                    EventTypeEnumNew.EVEHICLE_IN_TROUBLE.poiType,
+                                                    EventTypeEnumNew.EVEHICLE_IN_TROUBLE.content,
+                                                    null
+                                                )
+                                            )
+                                        )
+                                    }
+
+                                    override fun onDismiss() {
+                                        takeOver = false
+                                        ThreadUtils.runOnUiThread{
+                                            visibility = View.GONE
+                                        }
+                                    }
+                                }
+                                ,isFromObu = false)
+                        }
+                    }
                     MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_PLANNING,
                     MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_LOCATION,
                     MogoReport.Code.Error.EMAP.EXIT_AUTOPILOT_FOR_CHASSIS,
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
index 80fd2b8f35..6bb9b70281 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/enums/EventTypeEnumNew.kt
@@ -113,6 +113,11 @@ enum class EventTypeEnumNew(
     NETWORK_WEAK_EVENT("20001", "接管", "注意周围、立即接管", R.drawable.icon_warning_take_over,
         "注意周围、立即接管", "平行驾驶遇弱网已退出，注意随时接管"),
 
+    //平行驾驶接入
+    EVEHICLE_IN_TROUBLE(
+        "20002", "自驾判定遇困", "已请求平行驾驶，请稍作等待", R.drawable.icon_warning_take_over,
+        "已请求平行驾驶，请稍作等待"
+    ),
     // 前方静止or慢速车辆报警
     ALERT_FRONT_CAR("99999","前方预警"),
 
@@ -991,6 +996,9 @@ enum class EventTypeEnumNew(
                 NETWORK_WEAK_EVENT.poiType ->{
                     NETWORK_WEAK_EVENT.poiTypeStr
                 }
+                EVEHICLE_IN_TROUBLE.poiType -> {
+                    EVEHICLE_IN_TROUBLE.poiTypeStr
+                }
                 //平行驾驶无法接管
                 TYPE_UNABLE_TAKEOVER.poiType->{
                     TYPE_UNABLE_TAKEOVER.poiTypeStr
@@ -1376,6 +1384,9 @@ enum class EventTypeEnumNew(
                 NETWORK_WEAK_EVENT.poiType -> {
                     R.drawable.icon_warning_take_over
                 }
+                EVEHICLE_IN_TROUBLE.poiType -> {
+                    R.drawable.icon_warning_take_over
+                }
                 //平行驾驶无法接管
                 TYPE_UNABLE_TAKEOVER.poiType->{
                     R.drawable.icon_warning_take_over