diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
index d1f1be8f6c..eaca9a41c3 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotActionsListenerManager.kt
@@ -25,6 +25,7 @@ object CallerAutopilotActionsListenerManager : CallerBase<IMoGoAutopilotActionsL
         list.add(
             UnableLaunchReason(
                 UnableLaunchReason.SourceType.LIB,
+                UnableLaunchReason.UnableType.DISCONNECTED,
                 "未连接自动驾驶系统"
             )
         )
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt
index c2f70ba5bf..4040f6c9f3 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerParallelDrivingActionsListenerManager.kt
@@ -26,6 +26,7 @@ object CallerParallelDrivingActionsListenerManager :
         list.add(
             UnableLaunchReason(
                 UnableLaunchReason.SourceType.LIB,
+                UnableLaunchReason.UnableType.DISCONNECTED,
                 "未连接自动驾驶系统"
             )
         )
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
index 7715cada6f..40a59f1bd6 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/UnableLaunchReason.java
@@ -16,19 +16,38 @@ public class UnableLaunchReason {
         FSM,
     }
 
+    /**
+     * 影响启动自驾或启动平行驾驶的具体类型
+     */
+    public enum UnableType {
+        DISCONNECTED,//未连接
+        INCOMPATIBLE,//版本不匹配，版本不兼容
+        SSM_ERROR,//SSM异常
+        FSM_ERROR,//FSM异常
+        BRAKE,//刹车
+        GEAR,//档位
+        PARKING_BRAKE,//制动系统，手刹，电子驻车制动系统
+        SSM_OFFER,//SSM提供的原因
+        FSM_OFFER//FSM提供的原因
+    }
+
     /**
      * 來源
      */
     public final SourceType source;
+    /**
+     * 影响启动自驾或启动平行驾驶的具体类型
+     */
+    public final UnableType unableType;
     /**
      * 具體原因
      */
-    public final String unableAutopilotReason;
+    public final String unableLaunchReason;
 
-
-    public UnableLaunchReason(SourceType source, String unableAutopilotReason) {
+    public UnableLaunchReason(SourceType source, UnableType unableType, String unableLaunchReason) {
         this.source = source;
-        this.unableAutopilotReason = unableAutopilotReason;
+        this.unableType = unableType;
+        this.unableLaunchReason = unableLaunchReason;
     }
 
     @Override
@@ -36,16 +55,16 @@ public class UnableLaunchReason {
         if (this == o) return true;
         if (o == null || getClass() != o.getClass()) return false;
         UnableLaunchReason that = (UnableLaunchReason) o;
-        return source == that.source && TextUtils.equals(unableAutopilotReason, that.unableAutopilotReason);
+        return source == that.source && TextUtils.equals(unableLaunchReason, that.unableLaunchReason);
     }
 
     @Override
     public int hashCode() {
-        return Objects.hash(source, unableAutopilotReason);
+        return Objects.hash(source, unableLaunchReason);
     }
 
     @Override
     public String toString() {
-        return "{原因：" + unableAutopilotReason + " 来源：" + source + "}";
+        return "{原因：" + unableLaunchReason + " 来源：" + source + "}";
     }
 }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
index 47c4d4f21d..0cb6ea2ced 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
@@ -101,11 +101,11 @@ public class ParallelDrivingManager {
      * @param unableParallelDrivingReason  云隐
      * @return 原因列表
      */
-    public static ArrayList<UnableLaunchReason> addUnableParallelDrivingReason(ArrayList<UnableLaunchReason> unableParallelDrivingReasons, UnableLaunchReason.SourceType source, String unableParallelDrivingReason) {
+    public static ArrayList<UnableLaunchReason> addUnableParallelDrivingReason(ArrayList<UnableLaunchReason> unableParallelDrivingReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableParallelDrivingReason) {
         if (unableParallelDrivingReasons == null) {
             unableParallelDrivingReasons = new ArrayList<>();
         }
-        unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableParallelDrivingReason));
+        unableParallelDrivingReasons.add(new UnableLaunchReason(source, unableType, unableParallelDrivingReason));
         return unableParallelDrivingReasons;
     }
 
@@ -118,14 +118,14 @@ public class ParallelDrivingManager {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isParallelDrivingAbility = false;
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!isLaunchAutopilot(gear)) {
                     isParallelDrivingAbility = false;
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
+                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常");
                 }
             }
         }
@@ -136,7 +136,7 @@ public class ParallelDrivingManager {
                 boolean isBrake = vehicleState.getParkingBrake();
                 if (isBrake) {
                     isParallelDrivingAbility = false;
-                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
+                    unableParallelDrivingReasons = addUnableParallelDrivingReason(unableParallelDrivingReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车");
                 }
             }
         }
@@ -166,7 +166,7 @@ public class ParallelDrivingManager {
                 }, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
             }
         } else {
-            callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, "当前域控版本无法通过鹰眼启动平行驾驶"));
+            callListener(false, addUnableParallelDrivingReason(null, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.INCOMPATIBLE, "当前域控版本无法通过鹰眼启动平行驾驶"));
         }
     }
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
index 11be04394a..3b049f2374 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility230.java
@@ -46,14 +46,14 @@ public class AutopilotAbility230 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常");
                 }
             }
             //TODO 关于手刹：不同车型的实现不同所以目前没法使用此字段
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
index dd8ff334d0..298c8e6c70 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
@@ -81,7 +81,7 @@ public class AutopilotAbility250 {
             if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -93,13 +93,13 @@ public class AutopilotAbility250 {
                             String nodeName = info.getNodeName();
                             int state = info.getState();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
@@ -130,13 +130,13 @@ public class AutopilotAbility250 {
                         unableAutopilotReason = "未知系统状态";
                     }
                     if (!isAutopilotAbility) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                     }
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM状态查询超时无响应");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应");
         }
         //检测底盘相关
         if (chassisStates != null) {
@@ -144,14 +144,14 @@ public class AutopilotAbility250 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常");
                 }
             }
         }
@@ -163,7 +163,7 @@ public class AutopilotAbility250 {
                     boolean isBrake = vehicleState.getParkingBrake();
                     if (isBrake) {
                         isAutopilotAbility = false;
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车");
                     }
                 }
             }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
index 22a2edca35..005851b51c 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
@@ -74,7 +74,7 @@ public class AutopilotAbility330 {
             if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -86,13 +86,13 @@ public class AutopilotAbility330 {
                             String nodeName = info.getNodeName();
                             int state = info.getState();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
@@ -123,13 +123,13 @@ public class AutopilotAbility330 {
                         unableAutopilotReason = "未知系统状态";
                     }
                     if (!isAutopilotAbility) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                     }
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM状态查询超时无响应");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应");
         }
         if (fsmStatusReasonRespond != null) {
             int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -138,11 +138,11 @@ public class AutopilotAbility330 {
                 for (int i = 0; i < count; i++) {
                     String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
                     if (!TextUtils.isEmpty(respond)) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, respond);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
                     }
                 }
                 if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
                 }
             }
         }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
index dbd3eed306..a9af1c3bdd 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
@@ -69,7 +69,7 @@ public class AutopilotAbility350And360 {
             if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -81,13 +81,13 @@ public class AutopilotAbility350And360 {
                             String nodeName = info.getNodeName();
                             int state = info.getState().getNumber();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
@@ -106,12 +106,12 @@ public class AutopilotAbility350And360 {
                     } else {
                         unableAutopilotReason = "未知系统模式";
                     }
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM数据异常");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应");
         }
         //检测底盘相关
         if (chassisStates != null) {
@@ -119,14 +119,14 @@ public class AutopilotAbility350And360 {
                 float brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 if (brake > 0) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "制动踏板被踩下");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.BRAKE, "制动踏板被踩下");
                 }
             }
             if (chassisStates.hasGearSystemStates()) {
                 Chassis.GearPosition gear = chassisStates.getGearSystemStates().getGearPosition();
                 if (!AutopilotAbilityManager.getInstance().isLaunchAutopilot(gear)) {
                     isAutopilotAbility = false;
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "档位异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.GEAR, "档位异常");
                 }
             }
         }
@@ -138,7 +138,7 @@ public class AutopilotAbility350And360 {
                     boolean isBrake = vehicleState.getParkingBrake();
                     if (isBrake) {
                         isAutopilotAbility = false;
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, "施加驻车");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.CHASSIS, UnableLaunchReason.UnableType.PARKING_BRAKE, "施加驻车");
                     }
                 }
             }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
index 0de52b2894..0e26874210 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility360.java
@@ -59,7 +59,7 @@ public class AutopilotAbility360 {
             if (masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, statusInfo.getAutoPilotUnreadyReason());
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, statusInfo.getAutoPilotUnreadyReason());
                 }
             } else if (masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
@@ -71,13 +71,13 @@ public class AutopilotAbility360 {
                             String nodeName = info.getNodeName();
                             int state = info.getState().getNumber();
                             if (state < AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY.length) {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, nodeName + AutopilotAbilityManager.NODE_INFO_STATE_FIXED_FREQUENCY[state]);
                             } else {
-                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, nodeName + "未知异常");
+                                unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, nodeName + "未知异常");
                             }
                         }
                     } else {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, "未知异常节点");
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_ERROR, "未知异常节点");
                     }
                 }
             } else {
@@ -96,12 +96,12 @@ public class AutopilotAbility360 {
                     } else {
                         unableAutopilotReason = "未知系统模式";
                     }
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, unableAutopilotReason);
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.SSM, UnableLaunchReason.UnableType.SSM_OFFER, unableAutopilotReason);
                 }
             }
         } else {
             isAutopilotAbility = false;//是否能启动自动驾驶
-            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "SSM数据异常");
+            unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.SSM_ERROR, "SSM状态查询超时无响应");
         }
         if (fsmStatusReasonRespond != null) {
             int count = fsmStatusReasonRespond.getFsmStatusReasonRespondCount();
@@ -110,11 +110,11 @@ public class AutopilotAbility360 {
                 for (int i = 0; i < count; i++) {
                     String respond = fsmStatusReasonRespond.getFsmStatusReasonRespond(i);
                     if (!TextUtils.isEmpty(respond)) {
-                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, respond);
+                        unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.FSM, UnableLaunchReason.UnableType.FSM_OFFER, respond);
                     }
                 }
                 if (unableAutopilotReasons == null || unableAutopilotReasons.isEmpty()) {
-                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, "FSM数据异常");
+                    unableAutopilotReasons = AutopilotAbilityManager.getInstance().addUnableAutopilotReason(unableAutopilotReasons, UnableLaunchReason.SourceType.LIB, UnableLaunchReason.UnableType.FSM_ERROR, "FSM数据异常");
                 }
             }
         }
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
index 3ddc60d109..9e7f7d54e1 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
@@ -108,11 +108,11 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
      * @param unableAutopilotReason  云隐
      * @return 原因列表
      */
-    protected ArrayList<UnableLaunchReason> addUnableAutopilotReason(ArrayList<UnableLaunchReason> unableAutopilotReasons, UnableLaunchReason.SourceType source, String unableAutopilotReason) {
+    protected ArrayList<UnableLaunchReason> addUnableAutopilotReason(ArrayList<UnableLaunchReason> unableAutopilotReasons, UnableLaunchReason.SourceType source, UnableLaunchReason.UnableType unableType, String unableAutopilotReason) {
         if (unableAutopilotReasons == null) {
             unableAutopilotReasons = new ArrayList<>();
         }
-        unableAutopilotReasons.add(new UnableLaunchReason(source, unableAutopilotReason));
+        unableAutopilotReasons.add(new UnableLaunchReason(source, unableType, unableAutopilotReason));
         return unableAutopilotReasons;
     }