diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
index ff9e9558c2..8246bcc13a 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -151,6 +151,8 @@ class MoGoAdasListenerImpl : OnAdasListener {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotSteeringData(vehicleState.steering)
             //挂挡档位数据
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotGearData(vehicleState.gear)
+            //加速度
+            CallerAutopilotVehicleStateListenerManager.invokeAutopilotAcc(vehicleState.accel)
         } else {
             CallerAutopilotVehicleStateListenerManager.invokeAutopilotDataException(header.timestamp.toLong())
         }
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
index 70b6dd7f54..90f6c23382 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/adapter/MoGoHandAdasMsgManager.java
@@ -150,4 +150,9 @@ public class MoGoHandAdasMsgManager implements
     @Override
     public void onAutopilotDataException(long timestamp) {
     }
+
+    @Override
+    public void onAutopilotAcc(float carAcc) {
+
+    }
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
index d5b6e167e1..67a6be07fb 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/can/CanImpl.kt
@@ -4,15 +4,17 @@ import android.content.*
 import android.util.*
 import chassis.Chassis.GearPosition
 import chassis.Chassis.LightSwitch
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.function.api.autopilot.*
 import com.mogo.eagle.core.function.call.autopilot.*
 import com.mogo.eagle.core.utilcode.kotlin.*
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import com.zhjt.mogo_core_function_devatools.status.entity.CanStatus
 import kotlinx.coroutines.*
+import mogo.telematics.pad.MessagePad
 import mogo_msg.MogoReportMsg.MogoReportMessage
 
-internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
+internal class CanImpl(ctx: Context) : IFlow<CanStatus>(ctx), IMoGoAutopilotVehicleStateListener, IMoGoAutopilotStatusListener {
 
     companion object {
         const val TAG = "CanImpl"
@@ -67,13 +69,18 @@ internal class CanImpl(ctx: Context): IFlow<CanStatus>(ctx), IMoGoAutopilotVehic
         timeOutCheck()
     }
 
+    override fun onAutopilotAcc(carAcc: Float) {
+        send(CanStatus(isCanEnabled()))
+        timeOutCheck()
+    }
+
 
     private fun timeOutCheck() {
         job?.safeCancel()
         launch(Dispatchers.Default) {
             delay(4000)
             send(CanStatus(false))
-        }.also { job = it  }
+        }.also { job = it }
     }
 
     override fun onDestroy() {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
index 4ea05b2f14..90a078343f 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/DebugSettingView.kt
@@ -1835,6 +1835,13 @@ class DebugSettingView @JvmOverloads constructor(
         }
     }
 
+    /**
+     * 车辆加速度
+     */
+    override fun onAutopilotAcc(carAcc: Float) {
+        TODO("Not yet implemented")
+    }
+
     /**
      * 吐司提示
      */
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
index 4e4f7402fc..a72a6d9c8a 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -171,6 +171,15 @@ public class SteeringWheelView extends ConstraintLayout {
             Log.d(TAG, "刹车灯:" + String.valueOf(brakeLight));
         }
 
+        /**
+         * 车辆加速度
+         * @param carAcc
+         */
+        @Override
+        public void onAutopilotAcc(float carAcc) {
+
+        }
+
         /**
          * 方向盘转向角 左+右-
          * @param steering
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
index f63f0f3a3b..4da68513b4 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -21,6 +21,8 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 
 import org.jetbrains.annotations.NotNull;
 
+import java.math.BigDecimal;
+
 import chassis.Chassis;
 
 /**
@@ -66,6 +68,13 @@ public class TrafficDataView extends ConstraintLayout {
         speedTextView = findViewById(R.id.speedTextView);
         accTextView = findViewById(R.id.speedAccTextView);
     }
+    //onVehicleState
+
+//    @Override
+//    public void onVehicleState(MessagePad.Header header, VehicleStateOuterClass.VehicleState vehicleState) {
+//        VehicleState base = new VehicleState(header, vehicleState, sdf);
+//        DataDistribution.getInstance().addData(base);
+//    }
 
     private final IMoGoAutopilotVehicleStateListener mIMoGoAutopilotVehicleStateListener = new IMoGoAutopilotVehicleStateListener() {
         /**
@@ -128,6 +137,13 @@ public class TrafficDataView extends ConstraintLayout {
         public void onAutopilotDataException(long timestamp) {
 
         }
+
+        @Override
+        public void onAutopilotAcc(float carAcc) {
+            Log.d(TAG, "加速度:" + carAcc);
+            BigDecimal acc = new BigDecimal(String.valueOf(carAcc)).setScale(2);
+            accTextView.setText(String.valueOf(acc));
+        }
     };
 
     /**
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
index bca93e135e..7d6520926d 100644
--- a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotVehicleStateListener.kt
@@ -1,6 +1,7 @@
 package com.mogo.eagle.core.function.api.autopilot
 
 import chassis.Chassis
+import mogo.telematics.pad.MessagePad
 
 /**
  * 车辆底盘 数据 回调监听
@@ -36,4 +37,9 @@ interface IMoGoAutopilotVehicleStateListener {
      * 没有自车状态数据
      */
     fun onAutopilotDataException(timestamp: Long){}
+
+    /**
+     * 车辆加速度
+     */
+    fun onAutopilotAcc(carAcc: Float)
 }
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
index 37653bb62d..3c5fef077a 100644
--- a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotVehicleStateListenerManager.kt
@@ -4,6 +4,7 @@ import androidx.annotation.Nullable
 import chassis.Chassis
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import mogo.telematics.pad.MessagePad
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -100,6 +101,18 @@ object CallerAutopilotVehicleStateListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * 车辆加速度
+     * acc 加速度
+     */
+    fun invokeAutopilotAcc(carAcc: Float){
+        M_AUTOPILOT_VEHICLE_LISTENERS.forEach{
+            val listener = it.value
+            listener.onAutopilotAcc(carAcc)
+        }
+    }
+
+
     /**
      * 工控机时间回调
      */