diff --git a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
index af70510f37..d8e75da75f 100644
--- a/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
+++ b/modules/mogo-module-service/src/main/java/com/mogo/module/service/routeoverlay/MogoRouteOverlayManager.java
@@ -4,6 +4,7 @@ import android.content.Context;
 import android.location.Location;
 import android.util.Log;
 
+import com.mogo.eagle.core.data.autopilot.AdasOCHData;
 import com.mogo.eagle.core.data.autopilot.ADASTrajectoryInfo;
 import com.mogo.eagle.core.data.autopilot.AutopilotRouteInfo;
 import com.mogo.eagle.core.data.map.MogoLatLng;
@@ -12,16 +13,21 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotPlanningListen
 import com.mogo.eagle.core.data.map.MogoLocation;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.service.adas.IMogoAdasOCHCallback;
+import com.mogo.service.adas.IMogoAdasRouteCallBack;
+import com.mogo.service.adas.IMogoAdasTrajectoryDataCallBack;
+import com.mogo.service.adas.entity.ADASTrajectoryInfo;
 
 import java.util.ArrayList;
 import java.util.List;
 
-public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2, IMoGoAutopilotPlanningListener {
+public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2, IMoGoAutopilotPlanningListener,IMogoAdasOCHCallback {
     private static volatile MogoRouteOverlayManager sInstance;
     private Context mContext;
     private String TAG = "MogoRouteOverlayManager";
+    private int STATUS_AUTOPILOT=0;
 
-    private MogoRouteOverlayManager(Context context) {
+    private  MogoRouteOverlayManager(Context context){
         mContext = context;
     }
 
@@ -31,7 +37,9 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2
                 .getRegisterCenterApi()
                 .registerCarLocationChangedListener("MogoRouteOverlayManager", this);
         CallerAutopilotPlanningListenerManager.INSTANCE.addListener("MogoRouteOverlayManager", this);
-    }
+            MogoApisHandler.getInstance().getApis().getAdasControllerApi().addAdasOCHCallback(this);
+
+        }
 
     public static MogoRouteOverlayManager getInstance(Context context) {
         if (sInstance == null) {
@@ -97,4 +105,17 @@ public class MogoRouteOverlayManager implements IMogoCarLocationChangedListener2
         Log.e(TAG, "routeResult:" + latLngList.size());
         RouteOverlayDrawer.getInstance(mContext).putRouteList(latLngList);
     }
+
+    @Override
+    public void onArriveAt(AdasOCHData data) {
+        RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
+    }
+
+    @Override
+    public void onStateChanged(int state, String reason) {
+        this.STATUS_AUTOPILOT = state;
+        if (state != IMogoAdasOCHCallback.STATUS_AUTOPILOT_RUNNING){
+            RouteOverlayDrawer.getInstance(mContext).clearMogoRouteOverlay();
+        }
+    }
 }