diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
index 97ab6a6dcd..8dd8526f1c 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/SteeringWheelView.java
@@ -12,6 +12,7 @@ import android.widget.TextView;
 
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
+import androidx.annotation.UiThread;
 import androidx.constraintlayout.widget.ConstraintLayout;
 
 import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo;
@@ -20,7 +21,9 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotVehicleStateList
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotVehicleStateListenerManager;
 import com.mogo.eagle.core.function.hmi.R;
+import com.mogo.eagle.core.network.utils.Util;
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 
 import org.jetbrains.annotations.NotNull;
 
@@ -40,7 +43,8 @@ import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_BUS
 public class SteeringWheelView extends ConstraintLayout {
     private static final String TAG = "SteeringWheelView";
     private ImageView autopilotIV;
-    private TextView steeringTV;
+    private TextView steeringTVL;
+    private TextView steeringTVR;
     private TapPositionView tapPositionView;
     private CircularProgressView steeringCircularV;
     private RotateAnimation rotateAnimation;
@@ -62,13 +66,13 @@ public class SteeringWheelView extends ConstraintLayout {
 
     private void initView() {
         autopilotIV = (ImageView) findViewById(R.id.autopilot_iv);
-        steeringTV = findViewById(R.id.steering_tv);
+        steeringTVL = findViewById(R.id.steering_tv_left);
+        steeringTVR = findViewById(R.id.steering_tv_right);
         tapPositionView = findViewById(R.id.tap_position);
         steeringCircularV = findViewById(R.id.steering_circular);
         steeringCircularV.setBackWidth(8);
         steeringCircularV.setBackColor(R.color.hmi_light_blue_00);
         steeringCircularV.setProgColor(R.color.hmi_light_blue, R.color.hmi_dark_blue);
-        steeringCircularV.setProgress(10, 1000);
     }
 
     public SteeringWheelView(@NonNull Context context, @Nullable AttributeSet attrs, int defStyleAttr) {
@@ -94,24 +98,30 @@ public class SteeringWheelView extends ConstraintLayout {
 
         @Override
         public void onAutopilotStatusResponse(@NotNull AutopilotStatusInfo autopilotStatusInfo) {
-            if (autopilotStatusInfo == null) return;
-            int state = autopilotStatusInfo.getState();
-            CallerLogger.INSTANCE.d(M_BUS_P + TAG, "state = %s", state);
-            if (autopilotIV != null) {
-                Log.d(TAG, "autopilotIV != null");
-                if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+            ThreadUtils.runOnUiThread(new Runnable() {
+                @Override
+                public void run() {
+                    if (autopilotStatusInfo == null) return;
+                    int state = autopilotStatusInfo.getState();
+                    CallerLogger.INSTANCE.d(M_BUS_P + TAG, "state = %s", state);
+                    if (autopilotIV != null) {
+                        Log.d(TAG, "autopilotIV != null");
+                        if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
 
-                    autopilotIV.setImageResource(R.drawable.bg_auto);
+                            autopilotIV.setImageResource(R.drawable.bg_auto);
 
-                } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
-                    autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                        } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
+                            autopilotIV.setImageResource(R.drawable.bg_auto_nor);
 
-                } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
-                    autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                        } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE) {
+                            autopilotIV.setImageResource(R.drawable.bg_auto_nor);
+                        }
+                    } else {
+                        Log.d(TAG, "autopilotIV=null");
+                    }
                 }
-            } else {
-                Log.d(TAG, "autopilotIV=null");
-            }
+            });
+
         }
 
         @Override
@@ -139,15 +149,34 @@ public class SteeringWheelView extends ConstraintLayout {
             Log.d(TAG, "刹车灯:" + String.valueOf(brakeLight));
         }
 
+        /**
+         * 方向盘转向角
+         * @param steering
+         */
         @Override
         public void onAutopilotSteeringData(float steering) {
-            if (steeringTV != null && String.valueOf(steering) != null) {
-                steeringTV.setText(String.valueOf(steering) + "°");
-                steeringCircularV.setProgress((int) steering, 1000);
-                animationWithSteeringData(steering);
-            } else {
-                Log.d(TAG, "steering未呈现");
-            }
+            ThreadUtils.runOnUiThread(new Runnable() {
+                @Override
+                public void run() {
+                    Log.d(TAG, "steering" + String.valueOf(steering));
+                    if (steeringTVL != null && steering < 0) {
+                        steeringTVR.setVisibility(View.INVISIBLE);
+                        steeringTVL.setVisibility(View.VISIBLE);
+                        steeringTVL.setText(String.valueOf((int) steering) + "°");
+                        steeringCircularV.setProgress((int) steering, 1000);
+                        animationWithSteeringData(steering);
+                    } else if (steeringTVR != null && steering > 0) {
+                        steeringTVL.setVisibility(View.INVISIBLE);
+                        steeringTVR.setVisibility(View.VISIBLE);
+                        steeringTVR.setText(String.valueOf((int) steering) + "°");
+                        steeringCircularV.setProgress((int) steering, 1000);
+                        animationWithSteeringData(steering);
+                    } else {
+                        Log.d(TAG, "onAutopilotSteeringData error");
+                    }
+                }
+            });
+
         }
 
         /**
@@ -156,10 +185,16 @@ public class SteeringWheelView extends ConstraintLayout {
          */
         @Override
         public void onAutopilotGearData(@NotNull Chassis.GearPosition gear) {
-            Log.d(TAG, "档位" + gear.toString());
-            if (tapPositionView != null) {
-                tapPositionView.updateWithGear(gear);
-            }
+            ThreadUtils.runOnUiThread(new Runnable() {
+                @Override
+                public void run() {
+                    Log.d(TAG, "档位" + gear.toString());
+                    if (tapPositionView != null) {
+                        tapPositionView.updateWithGear(gear);
+                    }
+                }
+            });
+
         }
     };
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/monitoring/VehicleMonitoring.java b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/monitoring/VehicleMonitoring.java
index b841092909..bca60eed1e 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/monitoring/VehicleMonitoring.java
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/main/monitoring/VehicleMonitoring.java
@@ -14,7 +14,7 @@ import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 
 /**
  * @author liujing
- * @description 车辆监控
+ * @description 车辆监控,暂时隐藏该功能
  * @since: 8/16/21
  */
 public class VehicleMonitoring implements Handler.Callback {
@@ -34,31 +34,36 @@ public class VehicleMonitoring implements Handler.Callback {
     }
 
     public void vehicleCheck() {
-        if (AutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-            CallerLogger.INSTANCE.d(M_HMI + TAG, "自动驾驶中...");
-            mHandler.sendEmptyMessageDelayed(AutopilotStatus, AUTO_CHECK_STATUS_DELAY);
-        } else {
-            CallerLogger.INSTANCE.d(M_HMI + TAG, "非自动驾驶状态");
-            //非自动驾驶状态只展示一次
-            mHandler.sendEmptyMessageDelayed(AutopilotStatus, MANUAL_CHECK_STATUS_DELAY);
-        }
+        //暂时隐藏自检功能
+        /**
+         *
+         if (AutopilotStatus == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
+         CallerLogger.INSTANCE.d(M_HMI + TAG, "自动驾驶中...");
+         mHandler.sendEmptyMessageDelayed(AutopilotStatus, AUTO_CHECK_STATUS_DELAY);
+         } else {
+         CallerLogger.INSTANCE.d(M_HMI + TAG, "非自动驾驶状态");
+         //非自动驾驶状态只展示一次
+         mHandler.sendEmptyMessageDelayed(AutopilotStatus, MANUAL_CHECK_STATUS_DELAY);
+         }
+
+         */
     }
 
     @Override
     public boolean handleMessage(Message msg) {
-        AutopilotStatus = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
-        switch (msg.what) {
-            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
-                vehicleMonitor();
-                mHandler.sendEmptyMessageDelayed(AutopilotStatus, AUTO_CHECK_STATUS_DELAY);
-                return true;
-            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
-            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
-                vehicleMonitor();
-                mHandler.sendEmptyMessageDelayed(AutopilotStatus, MANUAL_CHECK_STATUS_DELAY);
-                return true;
-            default:
-        }
+//        AutopilotStatus = CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState();
+//        switch (msg.what) {
+//            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING:
+//                vehicleMonitor();
+//                mHandler.sendEmptyMessageDelayed(AutopilotStatus, AUTO_CHECK_STATUS_DELAY);
+//                return true;
+//            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE:
+//            case IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE:
+//                vehicleMonitor();
+//                mHandler.sendEmptyMessageDelayed(AutopilotStatus, MANUAL_CHECK_STATUS_DELAY);
+//                return true;
+//            default:
+//        }
         return false;
     }
 
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml
index aa5a02d635..0dc4ac8ab0 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml
+++ b/core/function-impl/mogo-core-function-hmi/src/main/res/layout/hmi_steering_wheel.xml
@@ -19,15 +19,31 @@
         app:layout_constraintTop_toTopOf="parent" />
 
     <TextView
-        android:id="@+id/steering_tv"
+        android:id="@+id/steering_tv_left"
         android:layout_width="wrap_content"
         android:layout_height="wrap_content"
         android:layout_marginTop="@dimen/dp_50"
+        android:layout_marginRight="-10px"
         android:gravity="right"
+        android:text="-18°"
+        android:textColor="#415479"
+        android:textSize="@dimen/dp_26"
+        android:visibility="invisible"
+        app:layout_constraintRight_toLeftOf="@+id/blue_circle"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <TextView
+        android:id="@+id/steering_tv_right"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginLeft="-10px"
+        android:layout_marginTop="@dimen/dp_50"
+        android:gravity="left"
         android:text="18°"
         android:textColor="#415479"
         android:textSize="@dimen/dp_26"
-        app:layout_constraintRight_toLeftOf="@+id/blue_circle"
+        android:visibility="invisible"
+        app:layout_constraintLeft_toRightOf="@+id/autopilot_iv"
         app:layout_constraintTop_toTopOf="parent" />
 
     <com.mogo.eagle.core.function.hmi.ui.widget.CircularProgressView
@@ -45,11 +61,11 @@
 
     <ImageView
         android:id="@+id/autopilot_iv"
-        android:layout_width="@dimen/dp_144"
-        android:layout_height="@dimen/dp_144"
+        android:layout_width="@dimen/dp_186"
+        android:layout_height="@dimen/dp_186"
         android:layout_centerHorizontal="true"
         android:layout_gravity="center_horizontal"
-        android:layout_marginTop="@dimen/dp_54"
+        android:layout_marginTop="@dimen/dp_34"
         android:src="@drawable/bg_auto"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
@@ -69,7 +85,7 @@
         android:id="@+id/tap_position"
         android:layout_width="@dimen/dp_240"
         android:layout_height="wrap_content"
-        android:layout_marginBottom="@dimen/dp_30"
+        android:layout_marginBottom="@dimen/dp_20"
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintLeft_toLeftOf="parent"
         app:layout_constraintRight_toRightOf="parent"
diff --git a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
index e8a50c2de8..182125356c 100644
--- a/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
+++ b/modules/mogo-module-common/src/main/res/values-xhdpi-2560x1600/dimens.xml
@@ -11,6 +11,8 @@
     <dimen name="module_v2x_brake_image_width">120px</dimen>
     <dimen name="module_v2x_brake_image_margin_left">37px</dimen>
     <dimen name="module_v2x_brake_image_margin_right">27px</dimen>
+    <dimen name="dp_90">90px</dimen>
     <dimen name="dp_144">144px</dimen>
+    <dimen name="dp_186">186px</dimen>
     <dimen name="dp_300">300px</dimen>
 </resources>