diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
index 36d15a2f70..b713f0c36d 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/setting/SOPSettingView.kt
@@ -1,8 +1,6 @@
 package com.mogo.eagle.core.function.hmi.ui.setting
 
 import android.content.Context
-import android.text.Editable
-import android.text.TextWatcher
 import android.util.AttributeSet
 import android.view.LayoutInflater
 import android.view.View
@@ -30,11 +28,10 @@ import com.mogo.eagle.core.function.call.map.CallerMapUIServiceManager
 import com.mogo.eagle.core.function.call.obu.CallerObuApiManager
 import com.mogo.eagle.core.function.call.setting.CallerSopSettingManager
 import com.mogo.eagle.core.function.call.telematic.CallerTelematicManager
+import com.mogo.eagle.core.function.call.unmanned.CallerUnmannedListenerManager
 import com.mogo.eagle.core.function.hmi.R
 import com.mogo.eagle.core.function.hmi.ui.utils.HmiActionLog.Companion.hmiAction
 import com.mogo.eagle.core.utilcode.mogo.AppIdentityModeUtils
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
-import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.Companion.M_HMI
 import com.mogo.eagle.core.utilcode.util.ThreadUtils
 import com.mogo.eagle.core.utilcode.util.ToastUtils
 import com.zhjt.mogo.adas.data.AdasConstants
@@ -493,6 +490,22 @@ internal class SOPSettingView @JvmOverloads constructor(
             hmiAction("SOP 融合模式, ", FunctionBuildConfig.fusionMode)
             CallerAutoPilotControlManager.sendFusionMode(FunctionBuildConfig.fusionMode)
         }
+        rgPullTime.setOnCheckedChangeListener { _, checkedId ->
+            when (checkedId) {
+                R.id.rbFortyFive -> {
+                    CallerUnmannedListenerManager.dispatchPullTime(45)
+                }
+                R.id.rbThirty -> {
+                    CallerUnmannedListenerManager.dispatchPullTime(30)
+                }
+                R.id.rbFifteen -> {
+                    CallerUnmannedListenerManager.dispatchPullTime(15)
+                }
+                R.id.rbFive -> {
+                    CallerUnmannedListenerManager.dispatchPullTime(5)
+                }
+            }
+        }
     }
 
     private var overTakeEditText: String = ""
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
index add4a3d93e..1a05165d25 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/view_sop_setting.xml
@@ -544,11 +544,66 @@
                     android:scaleX="1.2"
                     android:scaleY="1.2"
                     android:text="录包弹窗"
-                    app:layout_constraintBottom_toBottomOf="parent"
                     app:layout_constraintLeft_toLeftOf="parent"
                     app:layout_constraintRight_toRightOf="@id/otherGuideLine"
                     app:layout_constraintTop_toBottomOf="@id/scIPCReport" />
 
+                <TextView
+                    android:id="@+id/tvPullTimeTitle"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:layout_marginStart="@dimen/dp_10"
+                    android:layout_marginTop="@dimen/dp_10"
+                    android:text="@string/pull_time_title"
+                    android:textColor="@color/black"
+                    android:textSize="32dp"
+                    app:layout_constraintStart_toStartOf="parent"
+                    app:layout_constraintTop_toBottomOf="@id/scShowBagRecordWindow" />
+
+                <RadioGroup
+                    android:id="@+id/rgPullTime"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:layout_marginStart="@dimen/dp_40"
+                    android:layout_marginTop="@dimen/dp_10"
+                    android:orientation="horizontal"
+                    app:layout_constraintLeft_toLeftOf="parent"
+                    app:layout_constraintRight_toRightOf="parent"
+                    app:layout_constraintTop_toBottomOf="@id/tvPullTimeTitle">
+
+                    <RadioButton
+                        android:id="@+id/rbFortyFive"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="10dp"
+                        android:checked="true"
+                        android:text="45s"
+                        android:textSize="32dp" />
+
+                    <RadioButton
+                        android:id="@+id/rbThirty"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="10dp"
+                        android:text="30s"
+                        android:textSize="32dp" />
+
+                    <RadioButton
+                        android:id="@+id/rbFifteen"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="10dp"
+                        android:text="15s"
+                        android:textSize="32dp" />
+
+                    <RadioButton
+                        android:id="@+id/rbFive"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_margin="10dp"
+                        android:text="5s"
+                        android:textSize="32dp" />
+                </RadioGroup>
             </androidx.constraintlayout.widget.ConstraintLayout>
 
         </androidx.cardview.widget.CardView>
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
index f47fcdb292..d5c81d68b3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/values/strings.xml
@@ -91,4 +91,6 @@
     <string name="parallel_drive_synchronizing">同步中...</string>
     <string name="parallel_drive_failure">请求失败</string>
     <string name="parallel_drive_exception">异常</string>
+
+    <string name="pull_time_title">Taxi无人化演练任务拉取时间间隔</string>
 </resources>
diff --git a/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/unmanned/IUnmannedListener.kt b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/unmanned/IUnmannedListener.kt
new file mode 100644
index 0000000000..bcb477607a
--- /dev/null
+++ b/core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/unmanned/IUnmannedListener.kt
@@ -0,0 +1,8 @@
+package com.mogo.eagle.core.function.api.unmanned
+
+interface IUnmannedListener {
+    /**
+     * 单位: 秒(s)
+     */
+    fun onPullTimeUpdate(time: Int)
+}
\ No newline at end of file
diff --git a/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/unmanned/CallerUnmannedListenerManager.kt b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/unmanned/CallerUnmannedListenerManager.kt
new file mode 100644
index 0000000000..7976be5de4
--- /dev/null
+++ b/core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/unmanned/CallerUnmannedListenerManager.kt
@@ -0,0 +1,31 @@
+package com.mogo.eagle.core.function.call.unmanned
+
+import android.util.Log
+import com.mogo.eagle.core.function.api.unmanned.IUnmannedListener
+import com.mogo.eagle.core.function.call.base.CallerBase
+
+/**
+ * 无人化功能状态监听、回调管理者
+ */
+object CallerUnmannedListenerManager:CallerBase<IUnmannedListener>() {
+    private const val TAG = "CallerUnmannedListenerManager"
+
+    private var time: Int = 45
+
+    override fun doSomeAfterAddListener(tag: String, listener: IUnmannedListener) {
+        super.doSomeAfterAddListener(tag, listener)
+        listener.onPullTimeUpdate(time)
+    }
+
+    fun dispatchPullTime(time: Int) {
+        this.time = time
+        M_LISTENERS.forEach {
+            val listener = it.value
+            try {
+                listener.onPullTimeUpdate(time)
+            } catch (e: Exception) {
+                Log.e(TAG, "转发消息出现异常：${e.message}")
+            }
+        }
+    }
+}
\ No newline at end of file