diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
index 023888b7d8..5bc22f3044 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/OchBusFragment.java
@@ -200,6 +200,7 @@ public class OchBusFragment extends BaseOchFragment< OchBusFragment, OchBusPrese
      * 设置自动驾驶可用状态
      */
     public void onAutopilotEnableChange( boolean isEnable ) {
+        onAutopilotStatusChanged(isEnable);
         if ( isEnable ) {
             showAutopilotBiz();
         } else {
diff --git a/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java b/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
index eacee5b82f..8c1fab5ea4 100644
--- a/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
+++ b/OCH/mogo-och/src/main/java/com/mogo/och/BaseOchFragment.java
@@ -17,6 +17,8 @@ import com.mogo.module.common.MogoApisHandler;
 import com.mogo.module.common.view.OnPreventFastClickListener;
 import com.mogo.och.view.SlidePanelView;
 import com.mogo.service.adas.IMogoAdasOCHCallback;
+import com.mogo.service.adas.RemoteControlAutoPilotParameters;
+import com.mogo.utils.logger.Logger;
 
 /**
  * 网约车基础Fragment，主要负责布局通用界面，处理站点面板和通话面板互斥情况
@@ -32,7 +34,7 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
     protected SlidePanelView slidePanelView;
     private CheckedTextView ctvAutopilotStatus;
     protected TextView tvOperationStatus;
-    public  boolean isOperationStatus;//false-收车，true-出车
+    public boolean isOperationStatus;//false-收车，true-出车
     private FrameLayout flStationPanelContainer;
     private Group groupTestPanel;
 
@@ -109,12 +111,28 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
                         .mockOchStatus(IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING, "Running")
         );
 
-        // 模拟 自动驾驶网约车回调数据
+        // 模拟 自动驾驶站
         findViewById(R.id.btnAutopilotArrive).setOnClickListener(view ->
                 MogoApisHandler.getInstance().getApis()
                         .getAdasControllerApi().mockOchStatus(-1, "Arrived")
         );
 
+        // 模拟 站点下发工控
+        findViewById(R.id.btnAutopilotControl).setOnClickListener(view ->
+                {
+                    RemoteControlAutoPilotParameters currentAutopilot = new RemoteControlAutoPilotParameters();
+                    currentAutopilot.isSpeakVoice = true;
+                    // 万集东门站
+                    currentAutopilot.startLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(116.74157277,40.19885549);
+                    // 市政府前街18号
+                    currentAutopilot.endLatLon = new RemoteControlAutoPilotParameters.AutoPilotLonLat(116.729134342,40.1953113732);
+                    // 订单运营类型 （9出租车，10小巴）
+                    currentAutopilot.vehicleType = 10;
+                    Logger.d(TAG, "模拟 订单站点下发：" + currentAutopilot);
+                    MogoApisHandler.getInstance().getApis().getAdasControllerApi().aiCloudToAdasData(currentAutopilot);
+                }
+        );
+
         tvOperationStatus.setOnClickListener(view -> {
             onChangeOperationStatus();
         });
@@ -185,14 +203,14 @@ public abstract class BaseOchFragment<V extends IView, P extends Presenter<V>> e
         });
     }
 
-    public void hidPanel(){
-        getActivity().runOnUiThread(()->{
+    public void hidPanel() {
+        getActivity().runOnUiThread(() -> {
             flStationPanelContainer.setVisibility(View.GONE);
         });
     }
 
-    public void showPanel(){
-        getActivity().runOnUiThread(()->{
+    public void showPanel() {
+        getActivity().runOnUiThread(() -> {
             flStationPanelContainer.setVisibility(View.VISIBLE);
         });
     }
diff --git a/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml b/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml
index c369dc9da8..3cc3070de3 100644
--- a/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml
+++ b/OCH/mogo-och/src/main/res/layout/module_mogo_och_base_fragment.xml
@@ -76,9 +76,8 @@
         android:id="@+id/btnAutopilotDisable"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:background="#f00"
-        android:text="Disable"
-        android:textSize="30sp"
+        android:text="模拟 不可自动驾驶"
+        android:textSize="20sp"
         app:layout_constraintRight_toRightOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
@@ -86,9 +85,8 @@
         android:id="@+id/btnAutopilotEnable"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:background="#0f0"
-        android:text="Enable"
-        android:textSize="30sp"
+        android:text="模拟 中途人工干预"
+        android:textSize="20sp"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotDisable" />
 
@@ -96,9 +94,8 @@
         android:id="@+id/btnAutopilotRunning"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:background="#00f"
-        android:text="Running"
-        android:textSize="30sp"
+        android:text="模拟 自动驾驶途中"
+        android:textSize="20sp"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotEnable" />
 
@@ -106,18 +103,26 @@
         android:id="@+id/btnAutopilotArrive"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
-        android:background="#f00"
-        android:text="Arrived"
-        android:textSize="30sp"
+        android:text="模拟 自动驾驶到站"
+        android:textSize="20sp"
         app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
         app:layout_constraintTop_toBottomOf="@id/btnAutopilotRunning" />
 
+    <Button
+        android:id="@+id/btnAutopilotControl"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="模拟 站点下发工控"
+        android:textSize="20sp"
+        app:layout_constraintRight_toRightOf="@id/btnAutopilotDisable"
+        app:layout_constraintTop_toBottomOf="@id/btnAutopilotArrive" />
+
     <androidx.constraintlayout.widget.Group
         android:id="@+id/groupTestPanel"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:visibility="gone"
-        app:constraint_referenced_ids="btnAutopilotArrive,btnAutopilotDisable,btnAutopilotEnable,btnAutopilotRunning"
+        app:constraint_referenced_ids="btnAutopilotArrive,btnAutopilotDisable,btnAutopilotEnable,btnAutopilotRunning,btnAutopilotControl"
         tools:visibility="visible" />
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
index d4b8b69e37..9c99db2ba5 100644
--- a/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
+++ b/modules/mogo-module-adas/src/main/java/com/mogo/module/adas/AdasEventManager.java
@@ -173,7 +173,7 @@ public class AdasEventManager implements OnAdasListener, OnAdasMsgConnectStatusL
 
     @Override
     public void autopilotStatus(AutopilotStatus autopilotStatus) {
-        Logger.d(TAG,"autopilotStatus " + autopilotStatus);
+        Logger.d(TAG,"autopilotStatus " + GsonUtil.jsonFromObject(autopilotStatus));
         AutopilotStatus.ValuesBean autopilotStatusValues = autopilotStatus.getValues();
         AutopilotStatus.ValuesBean mAutopilotStatus;
 
diff --git a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
index 6c1bcce43e..b4ae41db7c 100644
--- a/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
+++ b/services/mogo-service/src/main/java/com/mogo/service/impl/adas/MogoADASController.java
@@ -326,9 +326,10 @@ public class MogoADASController implements IMogoADASController {
                 return;
             }
         }
-        if (SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
-            return;
-        }
+        // TODO 以前这里是考虑ADAS独立应用，现在集成ADAS-SDK到程序内了，这个判断不需要了
+//        if (SingletonsHolder.get(IMogoStatusManager.class).isVrMode()) {
+//            return;
+//        }
         Logger.d(TAG, Log.getStackTraceString(new Throwable()));
         init(AbsMogoApplication.getApp());
         adasProvider.addAdasStatusListener(new AdasStatusListener() {