diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
index 0615fac9b9..7c7e6da225 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/vehicle/PncActionsView.kt
@@ -90,27 +90,28 @@ class PncActionsView @JvmOverloads constructor(
             UiThreadHandler.post {
                 if (CallerAutoPilotStatusListenerManager.getState() == STATUS_AUTOPILOT_RUNNING) {
                     var actions: String? = null
-                    planningActionMsg.actionMsg?.let { it ->
+                    planningActionMsg.actionMsg?.let {
                         try {
                             actions = PncActionsHelper.getAction(
                                 it.drivingState.number,
                                 it.drivingAction.number
                             )
+
+                            //如果是存在云端红绿灯数据条件下，设置云端数据
+                            if (PncActionsHelper.isWaitingTrafficlight(
+                                    it.drivingState.number,
+                                    it.drivingAction.number
+                                )
+                                && mTrafficLightResult != null
+                                && hasRedLight()
+                            ) {
+                                actions += ",预计${getWaitTrafficLightTime()}秒后通过"
+                            } else {
+                                mTrafficLightResult = null
+                            }
                         } catch (e: Exception) {
                             e.printStackTrace()
                         }
-                        //如果是存在云端红绿灯数据条件下，设置云端数据
-                        if (PncActionsHelper.isWaitingTrafficlight(
-                                it.drivingState.number,
-                                it.drivingAction.number
-                            )
-                            && mTrafficLightResult != null
-                            && hasRedLight()
-                        ) {
-                            actions += ",预计${getWaitTrafficLightTime()}秒后通过"
-                        } else {
-                            mTrafficLightResult = null
-                        }
                     }
                     // update view
                     if (actions.isNullOrEmpty()) {
diff --git a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt
index 8b9b5e37ae..a7cfb88451 100644
--- a/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt
+++ b/core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/pnc/PncActionsHelper.kt
@@ -91,6 +91,9 @@ class PncActionsHelper {
                 WAITING_V2N_VALUE -> {
                     if (driveAction == 1) "正在尝试绕过前方道路事件" else if (driveAction == 2) "正在请求远程协助" else ""
                 }
+                YIELD_TO_VEHICLE_COMING_FROM_BEHIND_VALUE -> {
+                    if (driveAction == 1) "正在给后方驶来的机动车让行" else ""
+                }
                 else -> ""
             }
         }