diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusADASStatusCallback.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusADASStatusCallback.java
new file mode 100644
index 0000000000..186fc0b5f4
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusADASStatusCallback.java
@@ -0,0 +1,11 @@
+package com.mogo.och.bus.callback;
+
+/**
+ * Created on 2021/9/8
+ *
+ * Model->Presenter回调：ADAS相关（自动驾驶状态回调，到达终点等等）
+ */
+public interface IBusADASStatusCallback {
+    //自驾返回失败
+    void onStartAdasFailure();
+}
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index e9f730bdb4..a780ffb698 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -385,14 +385,18 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             return;
         }
         if (isAnimateRunning){
-            stopAutopilotAnimation();
-            updateAutopilotStatus(autopilotStatus);
+            stopAnimAndUpdateBtnStatus();
         }else {
             setAutopilotBtnStatus(autopilotStatus);
         }
 
     }
 
+    public void stopAnimAndUpdateBtnStatus(){
+        stopAutopilotAnimation();
+        updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
+    }
+
     /**
      * 隐藏【自动驾驶】按钮
      */
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index 5cfb30cd24..1212ebb74a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -40,6 +40,7 @@ import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.BusRoutesResult;
 import com.mogo.och.bus.bean.BusStationBean;
 import com.mogo.och.bus.bean.WriteOffPassenger;
+import com.mogo.och.bus.callback.IBusADASStatusCallback;
 import com.mogo.och.bus.callback.IBusControllerStatusCallback;
 import com.mogo.och.bus.callback.IPassengerCallback;
 import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
@@ -105,6 +106,7 @@ public class BusOrderModel {
     private ISlidePannelHideCallback slidePanelHideCallback;
     private IBusControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
     private IPassengerCallback mPassengerCallback; //乘客核销回调
+    private IBusADASStatusCallback mADASStatusCallback;
 
     List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
 
@@ -203,6 +205,10 @@ public class BusOrderModel {
         });
     }
 
+    public void setAdasStatusCallback(IBusADASStatusCallback callback){
+        this.mADASStatusCallback = callback;
+    }
+
     public void setRefreshBusStationsCallback(IRefreshBusStationsCallback callback){
         this.refreshBusStationsCallback = callback;
     }
@@ -325,6 +331,10 @@ public class BusOrderModel {
         @Override
         public void onStartAutopilotFailure(@NonNull String startFailedMessage) {
             BusAnalyticsManager.getInstance().triggerStartAutopilotFailureEvent(startFailedMessage);
+            if (mADASStatusCallback != null){
+                CallerLogger.INSTANCE.e( M_BUS + TAG, "mAdasStartFailureListener = "+startFailedMessage );
+                mADASStatusCallback.onStartAdasFailure();
+            }
         }
     };
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index 0ed6ee5692..c4d1be3b85 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -21,6 +21,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.R;
 import com.mogo.och.bus.bean.BusStationBean;
 import com.mogo.och.bus.bean.WriteOffPassenger;
+import com.mogo.och.bus.callback.IBusADASStatusCallback;
 import com.mogo.och.bus.callback.IBusControllerStatusCallback;
 import com.mogo.och.bus.callback.IPassengerCallback;
 import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
@@ -51,7 +52,7 @@ import system_master.SystemStatusInfo;
  */
 public class BusPresenter extends Presenter<BusFragment>
         implements IRefreshBusStationsCallback, ISlidePannelHideCallback
-        , IMoGoAutopilotStatusListener, IBusControllerStatusCallback, ILoginCallback, IPassengerCallback {
+        , IMoGoAutopilotStatusListener, IBusControllerStatusCallback, ILoginCallback, IPassengerCallback, IBusADASStatusCallback {
 
     private static final String TAG = "BusPresenter";
 
@@ -86,6 +87,7 @@ public class BusPresenter extends Presenter<BusFragment>
         BusOrderModel.getInstance().setSlidePanelHideCallback(this);
         BusOrderModel.getInstance().setControllerStatusCallback(this);
         BusOrderModel.getInstance().setPassengerCallback(this);
+        BusOrderModel.getInstance().setAdasStatusCallback(this);
     }
 
     public void releaseListener() {
@@ -93,6 +95,7 @@ public class BusPresenter extends Presenter<BusFragment>
         BusOrderModel.getInstance().setSlidePanelHideCallback(null);
         BusOrderModel.getInstance().setControllerStatusCallback(null);
         BusOrderModel.getInstance().setPassengerCallback(null);
+        BusOrderModel.getInstance().setAdasStatusCallback(null);
         OCHAdasAbilityManager.getInstance().release();
     }
 
@@ -311,4 +314,9 @@ public class BusPresenter extends Presenter<BusFragment>
             VoiceNotice.showNotice("核验通过", AIAssist.LEVEL3);
         }
     }
+
+    @Override
+    public void onStartAdasFailure() {
+        runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
+    }
 }
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
index 9ef69dc1ad..33d7fead37 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
@@ -108,12 +108,12 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMo
 
     @Override
     public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) {
-        if (statistics == null || statistics.failedMessage == null) return;
-        Logger.d(TAG, "failedMessage=  " + statistics.failedMessage.getMsg());
+        if (statistics == null) return;
+        Logger.d(TAG, "AutopilotStatistics=  " + statistics.status);
         if (failureCallback != null && 1 == statistics.status){
             startFailedMessage = statistics.failedMessage.getMsg();
             failureCallback.onStartAutopilotFailure(startFailedMessage);
-            Logger.d(TAG, "startFailedMessage=  " + startFailedMessage);
+            Logger.d(TAG, "statistics-startFailedMessage=  " + startFailedMessage);
         }
     }
 
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
index 7d89fd4718..278829580f 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
@@ -20,4 +20,7 @@ public interface ITaxiADASStatusCallback {
 
     //人机共驾
     void onManMachineCoDriving();
+
+    //自驾返回失败
+    void onStartAdasFailure();
 }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index 0927b9b0d6..764bff6369 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -1017,6 +1017,10 @@ public class TaxiModel {
         @Override
         public void onStartAutopilotFailure(@NonNull String startFailedMessage) {
             TaxiAnalyticsManager.getInstance().triggerStartAutopilotFailureEvent(startFailedMessage);
+            if (mADASStatusCallback != null){
+                CallerLogger.INSTANCE.e(M_TAXI + TAG, "mAdasStartFailureListener = "+startFailedMessage);
+                mADASStatusCallback.onStartAdasFailure();
+            }
         }
     };
 
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index f28f7bbb59..94dcdc28d2 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -226,6 +226,11 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
     }
 
+    @Override
+    public void onStartAdasFailure() {
+        runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
+    }
+
     @Override
     public void onServiceDataUpdate(long dailyTimeDuration, long dailyOrderNum) {
         runOnUIThread(() -> mView.onServiceDataUpdate(dailyTimeDuration,dailyOrderNum));
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 0d204d7ac5..8dc6ad1bab 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -354,19 +354,15 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             // 3. 其他过程直接更新
             startOrStopLoadingAnim(false);
             autopilotStatusAnimchanged(status);
-            if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == mPrevAPStatus) {
-                if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status) {
-                    // 2->1
-//                    AIAssist.getInstance(getContext()).speakTTSVoice("已进入人工驾驶模式");
-                } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE == status) {
-                    // 2->0
-//                    AIAssist.getInstance(getContext()).speakTTSVoice("自动驾驶已停止，请人工接管");
-                }
-            }
             mPrevAPStatus = status;
         });
     }
 
+    public void stopAnimAndUpdateBtnStatus(){
+        startOrStopLoadingAnim(false);
+        startAutopilotDone(false);
+    }
+
     public void onManMachineCoDriving(int manMachineCoDriving){
         if (mPrevAPStatus != manMachineCoDriving){
             autopilotStatusAnimchanged(manMachineCoDriving);