diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
index 93cfa6a4c0..d206c9a477 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/TrafficDataView.java
@@ -15,6 +15,7 @@ import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 import androidx.constraintlayout.widget.ConstraintLayout;
 
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotPlanningActionsListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisBrakeStateListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisGearStateListener;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisSteeringStateListener;
@@ -32,6 +33,7 @@ import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import org.jetbrains.annotations.NotNull;
 
 import chassis.Chassis;
+import mogo.telematics.pad.MessagePad;
 
 /**
  * @author Jing
@@ -42,7 +44,8 @@ public class TrafficDataView extends ConstraintLayout implements
         IMoGoChassisSteeringStateListener,
         IMoGoChassisGearStateListener ,
         IMoGoChassisBrakeStateListener,
-        IMoGoChassisThrottleStateListener {
+        IMoGoChassisThrottleStateListener,
+        IMoGoAutopilotPlanningActionsListener {
     private static final String TAG = "TrafficDataView";
     private TapPositionView tapPositionView;
     private TextView speedTextView;
@@ -114,7 +117,7 @@ public class TrafficDataView extends ConstraintLayout implements
         CallerChassisGearStateListenerManager.INSTANCE.addListener(TAG, this);
         CallerChassisBrakeStateListenerManager.INSTANCE.addListener(TAG, this);
         CallerChassisThrottleStateListenerManager.INSTANCE.addListener(TAG, this);
-        CallerPlanningActionsListenerManager.INSTANCE.addListener(TAG, planningActionMsg -> acceleration = planningActionMsg.getDestinationAcc());
+        CallerPlanningActionsListenerManager.INSTANCE.addListener(TAG, this);
     }
 
     private void initView(@NonNull Context context) {
@@ -136,6 +139,10 @@ public class TrafficDataView extends ConstraintLayout implements
         CallerPlanningActionsListenerManager.INSTANCE.removeListener(TAG);
     }
 
+    @Override
+    public void pncActions(@NonNull MessagePad.PlanningActionMsg planningActionMsg) {
+        acceleration = planningActionMsg.getDestinationAcc();
+    }
 
     /**
      * 方向盘转向角 左+右-