diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
index a7268ec13e..dec5498cd8 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/MoGoAutopilotProvider.kt
@@ -153,27 +153,6 @@ class MoGoAutopilotProvider :
                 }
             }, MoGoAiCloudClientConfig.getInstance().sn)
         } else {
-            msgHandler.setListener(object : EventListener {
-                override fun connectDevice(isSupportMulti: Boolean) {
-                    if (!isInit) {
-                        isInit = true
-                        UiThreadHandler.post {
-                            if (isSupportMulti) {
-                                // 直连工控机
-                                directConnect()
-                            } else {
-                                val options = AdasOptions
-                                    .Builder()
-                                    .setClient(true)
-                                    .build()
-                                AdasManager.getInstance()
-                                    .create(options, MoGoAdasMsgConnectStatusListenerImpl())
-                                listenDeviceData()
-                            }
-                        }
-                    }
-                }
-            })
             NSDNettyManager.getInstance()
                 .searchAndConnectServer(context, MoGoAiCloudClientConfig.getInstance().sn,
                     AppIdentityModeUtils.isTaxi(FunctionBuildConfig.appIdentityMode),
@@ -196,6 +175,36 @@ class MoGoAutopilotProvider :
                         }
                     })
         }
+        msgHandler.setListener(object : EventListener {
+            override fun connectDevice(isSupportMulti: Boolean) {
+                if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                    if (!isInit) {
+                        isInit = true
+                        // 转发工控机数据给乘客屏
+                        listenDeviceData()
+                    }
+                } else {
+                    if (!isInit) {
+                        isInit = true
+                        UiThreadHandler.post {
+                            if (isSupportMulti) {
+                                // 直连工控机
+                                directConnect()
+                            } else {
+                                val options = AdasOptions
+                                    .Builder()
+                                    .setClient(true)
+                                    .build()
+                                AdasManager.getInstance()
+                                    .create(options, MoGoAdasMsgConnectStatusListenerImpl())
+                                // 接收司机屏发过来的感知、定位等数据
+                                listenDeviceData()
+                            }
+                        }
+                    }
+                }
+            }
+        })
         CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
         CallerLogger.i("$M_ADAS_IMPL$TAG", "initServer……")
         // 同步数据给工控机的服务
diff --git a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
index 1e21903503..30ffb68fd9 100644
--- a/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
+++ b/core/function-impl/mogo-core-function-autopilot/src/main/java/com/mogo/eagle/core/function/autopilot/telematic/TeleMsgHandler.kt
@@ -118,7 +118,10 @@ class TeleMsgHandler : IMsgHandler {
                                         "1" -> true
                                         else -> false
                                     }
-                                Logger.d("Route", "TeleMsgHandler -> handleMsgFromServer ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore:" + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData)
+                                Logger.d(
+                                    "Route",
+                                    "TeleMsgHandler -> handleMsgFromServer ==> isDemoMode:" + FunctionBuildConfig.isDemoMode + ",isIgnore:" + FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData
+                                )
                                 timestamp = currTime
                                 invokeNettyConnResult("乘客屏收到的美化模式isIgnore为：${FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData}")
                             } else {
@@ -139,6 +142,7 @@ class TeleMsgHandler : IMsgHandler {
                 MogoProtocolMsg.REQ_MAC_ADDRESS -> {
                     val carConfig = AdasManager.getInstance().carConfig
                     if (carConfig != null) {
+                        listener?.connectDevice(!carConfig.dockVersion.contains("2.3.0"))
                         val configArray = carConfig.toByteArray()
 
                         NSDNettyManager.getInstance().sendMsgToSpecifiedClient(