diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
index 298c8e6c70..f2eaa0d3dc 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility250.java
@@ -32,6 +32,7 @@ public class AutopilotAbility250 {
     private int masterVersion = -1;//Master版本
     private boolean isHQ = false;//是否是HQ
     private boolean isDF = false;//是否是DF
+    private boolean isM1 = false;//是否是M1
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
@@ -44,10 +45,11 @@ public class AutopilotAbility250 {
         void onRemoveTimeoutMessages();
     }
 
-    protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF) {
+    protected AutopilotAbility250(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
         this.mapVersion = mapVersion;
         this.isHQ = isHQ;
         this.isDF = isDF;
+        this.isM1 = isM1;
         this.masterVersion = -1;
     }
 
@@ -155,7 +157,7 @@ public class AutopilotAbility250 {
                 }
             }
         }
-        if ((!isHQ && !isDF) || mapVersion < 30600) {
+        if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
             if (vehicleState != null) {
                 //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
                 //电子驻车制动系统
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
index a9af1c3bdd..fdce5ae4c0 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility350And360.java
@@ -27,6 +27,7 @@ public class AutopilotAbility350And360 {
     private int masterVersion = -1;//Master版本
     private boolean isHQ = false;//是否是HQ
     private boolean isDF = false;//是否是DF
+    private boolean isM1 = false;//是否是M1
     private OnAutopilotAbilityListener listener;
 
     protected interface OnAutopilotAbilityListener {
@@ -34,10 +35,11 @@ public class AutopilotAbility350And360 {
 
     }
 
-    protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF) {
+    protected AutopilotAbility350And360(int mapVersion, boolean isHQ, boolean isDF, boolean isM1) {
         this.mapVersion = mapVersion;
         this.isHQ = isHQ;
         this.isDF = isDF;
+        this.isM1 = isM1;
         this.masterVersion = -1;
     }
 
@@ -130,7 +132,7 @@ public class AutopilotAbility350And360 {
                 }
             }
         }
-        if ((!isHQ && !isDF) || mapVersion < 30600) {
+        if ((!isHQ && !isDF && !isM1) || mapVersion < 30600) {
             if (vehicleState != null) {
                 //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
                 //电子驻车制动系统
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
index 9e7f7d54e1..d5b55c37d3 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
@@ -49,6 +49,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
     private boolean isJinlvM1 = false;//是否是M1
     private boolean isHQ = false;//是否是HQ
     private boolean isDF = false;//是否是DF
+    private boolean isM1 = false;//是否是M1
     private AutopilotAbility230 autopilotAbility230;
     private AutopilotAbility250 autopilotAbility250;
     private AutopilotAbility330 autopilotAbility330;
@@ -133,6 +134,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
         isJinlvM1 = carConfig.getIsJinlvM1();
         isHQ = carConfig.getIsHQ();
         isDF = carConfig.getIsDF();
+        isM1 = carConfig.getIsJinlvM1();
         taxiUnmanned();
         if (mapVersion != -1) {
             stopTimer();
@@ -283,7 +285,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
             stop330();
             stop360();
             if (autopilotAbility350And360 == null) {
-                autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF);
+                autopilotAbility350And360 = new AutopilotAbility350And360(mapVersion, isHQ, isDF, isM1);
                 autopilotAbility350And360.start(this);
             }
 
@@ -304,7 +306,7 @@ public class AutopilotAbilityManager implements AutopilotAbility230.OnAutopilotA
             stop350And360();
             stop360();
             if (autopilotAbility250 == null) {
-                autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF);
+                autopilotAbility250 = new AutopilotAbility250(mapVersion, isHQ, isDF, isM1);
                 autopilotAbility250.start(this);
             }
         } else {