diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
index 2727f4e334..cb619918eb 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
@@ -50,6 +50,8 @@ class TaxiConst {
         const val DEMO_USER = "V"
         const val TEST_USER = "内测"
 
+        // 埋点key：接管后点击'自动驾驶'按钮启动
+        const val EVENT_KEY_RESTART_AUTOPILOT = "event_key_och_taxi_restart_autopilot"
         // 埋点key：开始服务开启自动驾驶（成功/失败）
         const val EVENT_KEY_START_SERVICE = "event_key_och_taxi_start_service"
         const val EVENT_PARAM_SN = "sn"
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 91803d4d4e..3f468d2373 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
@@ -835,7 +835,10 @@ public class TaxiModel {
         return false;
     }
 
-    //以当前订单为基础，开启自动驾驶
+    /**
+     * 以当前订单为基础，开启自动驾驶
+     * @param isRestart 开启自动驾驶
+     */
     @ChainLog(
             linkChainLog = CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
             linkCode = CHAIN_LINK_ADAS,
@@ -844,7 +847,7 @@ public class TaxiModel {
             paramIndexes = {0},
             clientPkFileName = "sn"
     )
-    public void startAutoPilot() {
+    public void startAutoPilot(boolean isRestart) {
         if (!checkCurrentOCHOrder()) {
             CallerLogger.INSTANCE.e(M_TAXI + TAG, "no order or order is empty.");
             TipToast.shortTip("当前订单不存在或异常！");
@@ -873,7 +876,7 @@ public class TaxiModel {
         CallerLogger.INSTANCE.d(M_TAXI + TAG, "start autopilot with parameter: %s", GsonUtil.jsonFromObject(parameters)
                 + " ,startSiteName=" + mCurrentOCHOrder.startSiteAddr + " ,endSiteName=" + mCurrentOCHOrder.endSiteAddr);
 
-        TaxiAnalyticsUtil.triggerStartServiceEvent(false,
+        TaxiAnalyticsUtil.triggerStartAutopilotEvent(isRestart, false,
                 mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo);
 
         if (DebugConfig.isDebug()) {
@@ -1061,7 +1064,7 @@ public class TaxiModel {
                     mPrevAPStatus = state; // 每个状态单独赋值，解决无订单时已经是2的状态导致的新订单来时无法进入此逻辑更新状态
                     updateOCHOrderStatus(TaxiOrderStatusEnum.OnTheWayToEnd);
 
-                    TaxiAnalyticsUtil.triggerStartServiceEvent(true,
+                    TaxiAnalyticsUtil.triggerStartAutopilotEvent(false, true,
                             mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo);
 
                     if (FunctionBuildConfig.isDemoMode) {
@@ -1069,6 +1072,12 @@ public class TaxiModel {
                         FunctionBuildConfig.isIgnoreConditionsDrawAutopilotTrajectoryData = true;
                         CallerLogger.INSTANCE.d(M_TAXI + TAG, "美化模式-ignore：置为true（到达出发点且已开启自动驾驶）");
                     }
+                } else if (mCurrentOCHOrder != null
+                        && getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd
+                        && state != mPrevAPStatus) {
+                    // 接管后再次启动成功埋点
+                    TaxiAnalyticsUtil.triggerStartAutopilotEvent(true, true,
+                            mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo);
                 }
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                 mPrevAPStatus = state;
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 b002924cab..bb31398790 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
@@ -87,9 +87,12 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         }
     }
 
-    // 开启自动驾驶
-    public void startAutoPilot() {
-        TaxiModel.getInstance().startAutoPilot();
+    /**
+     * 开启自动驾驶
+     * @param isRestart 是否是接管后重启自动驾驶
+     */
+    public void startAutoPilot(boolean isRestart) {
+        TaxiModel.getInstance().startAutoPilot(isRestart);
     }
 
     // 更新出车/收车状态
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 56b8f488ef..9789040e7f 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
@@ -173,7 +173,8 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             @Override
             public void onClickImpl(View v) {
                 // 如果能自动驾驶，就自动驾驶，不能就提示
-                if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() != IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
+                if (CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() !=
+                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
                     restartAutopilot();
                 }else {
                     TipToast.shortTip(getResources().getString(R.string.module_och_taxi_auto_disable_tip));
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
index ebddcde365..cc33dde65a 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiFragment.java
@@ -62,7 +62,7 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         // 在自动驾驶中，才会有重新开启自动驾驶的操作
         if (mPresenter.getCurOrderStatus() == TaxiOrderStatusEnum.OnTheWayToEnd && !isStarting) {
             CallerLogger.INSTANCE.d(M_TAXI + TAG, "restartAutopilot");
-            mPresenter.startAutoPilot();
+            mPresenter.startAutoPilot(true);
             startOrStopLoadingAnim(true);
         }
     }
@@ -220,7 +220,7 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
 
     public void startAutoPilot() {
         if (!isStarting){
-            mPresenter.startAutoPilot();
+            mPresenter.startAutoPilot(false);
             startOrStopLoadingAnim(true);
         }
     }
@@ -350,7 +350,7 @@ public class TaxiFragment extends BaseTaxiTabFragment<TaxiFragment, TaxiPresente
         findViewById(R.id.test_bar_on_the_way_to_end).setOnClickListener(v -> {
             showNotice("自动驾驶已启动，请系好安全带");
             if (!isStarting){
-                mPresenter.startAutoPilot();
+                mPresenter.startAutoPilot(false);
                 startOrStopLoadingAnim(true);
             }
             TaxiModel.getInstance().setOnTheWayToEndStation();
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsUtil.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsUtil.java
index 346ad51879..248f4005e9 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsUtil.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsUtil.java
@@ -21,13 +21,15 @@ import java.util.Map;
 public class TaxiAnalyticsUtil {
 
     /**
-     * 触发'开始服务'埋点流程：
-     * 点击开始服务（开启自动驾驶）后，15s内成功则发送成功埋点，否则发送失败埋点
+     * 触发'开启自动驾驶'埋点流程
+     * 开启自动驾驶，15s内成功则发送成功埋点，否则发送失败埋点
+     * @param restart false（点击'开始服务'启动）/true（接管后点击'自动驾驶'按钮启动）
      * @param send 是否直接发送埋点（15s内开启成功则直接发送成功埋点）
      */
-    public static void triggerStartServiceEvent(
-            boolean send, String startName, String endName, String orderNo) {
-
+    public static void triggerStartAutopilotEvent(
+            boolean restart, boolean send, String startName, String endName, String orderNo) {
+        String key = restart ?
+                TaxiConst.EVENT_KEY_RESTART_AUTOPILOT : TaxiConst.EVENT_KEY_START_SERVICE;
         String sn = MoGoAiCloudClientConfig.getInstance().getSn();
         String plateNum = AppConfigInfo.INSTANCE.getPlateNumber();
         String dateTime = DateTimeUtils.getTimeText(
@@ -46,7 +48,7 @@ public class TaxiAnalyticsUtil {
         Runnable runnable = () -> {
             // 15s内未开启，上报失败埋点
             params.put(TaxiConst.EVENT_PARAM_START_RESULT, false);
-            AnalyticsManager.INSTANCE.track(TaxiConst.EVENT_KEY_START_SERVICE, params);
+            AnalyticsManager.INSTANCE.track(key, params);
         };
 
         if (send) {
@@ -55,7 +57,7 @@ public class TaxiAnalyticsUtil {
                 UiThreadHandler.removeCallbacks(runnable);
             }
             params.put(TaxiConst.EVENT_PARAM_START_RESULT, true);
-            AnalyticsManager.INSTANCE.track(TaxiConst.EVENT_KEY_START_SERVICE, params);
+            AnalyticsManager.INSTANCE.track(key, params);
         } else {
             UiThreadHandler.postDelayed(runnable, TaxiConst.LOOP_PERIOD_15S);
         }