diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
index 26d38467f5..733e87d82a 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
@@ -137,7 +137,8 @@ public class AutopilotAbilityManager {
                     }
                 }
             }
-            if (version > 1) {
+            //如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
+            if (version > 1 && statusInfo.hasAutoPilotReady()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -150,12 +151,12 @@ public class AutopilotAbilityManager {
                             if (state < NODE_INFO_STATE.length) {
                                 builder.append(NODE_INFO_STATE[state]);
                             } else {
-                                builder.append("未知 ");
+                                builder.append("未知异常 ");
                             }
                         }
                         unableAutopilotReason = builder.toString();
                     } else {
-                        unableAutopilotReason = "未知";
+                        unableAutopilotReason = "未知异常节点";
                     }
                 }
             } else {
@@ -169,7 +170,9 @@ public class AutopilotAbilityManager {
                     } else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) {
                         unableAutopilotReason = "系统异常";
                     } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) {
-                        unableAutopilotReason = "正在开始自动驾驶";
+                        //如果第一次下发了启动自动驾驶，没起来或者存在干预 此时systemState是AUTO_PILOT_STARTING 需要二次下发启动自驾命令 所以需要排除此状态
+                        isAutopilotAbility = true;
+                        //unableAutopilotReason = "正在开始自动驾驶";
                     } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) {
                         unableAutopilotReason = "自动驾驶运行中";
                     } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) {
@@ -177,7 +180,7 @@ public class AutopilotAbilityManager {
                     } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_RUNNING) {
                         unableAutopilotReason = "平行驾驶运行中";
                     } else {
-                        unableAutopilotReason = "未知";
+                        unableAutopilotReason = "未知系统状态";
                     }
                 }
             }