diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
index 84742609d3..fead1ec4c7 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/widget/ParallelDriveView.kt
@@ -93,16 +93,19 @@ class ParallelDriveView @JvmOverloads constructor(
                     reqParaDrive()
                     listener?.onReqClick()
                 }
+
                 APP_REQUESTING -> {
                     cancelParaDrive()
                     Log.d(TAG, "Click-请求已取消")
                     ToastUtils.showShort("请求已取消！")
                     checkAvailableAndUpdateUI()
                 }
+
                 AD_REQUESTING -> {
                     Log.d(TAG, "Click-自动驾驶正在请求平行驾驶")
                     ToastUtils.showShort("自动驾驶正在请求平行驾驶")
                 }
+
                 UNAVAILABLE -> {
                     Log.d(TAG, "Click-请P档驻车并松开油门刹车后请求")
                     ToastUtils.showShort("请P档驻车并松开油门刹车后请求")
@@ -118,41 +121,42 @@ class ParallelDriveView @JvmOverloads constructor(
 
     override fun onAutopilotStatusResponse(state: Int) {
         super.onAutopilotStatusResponse(state)
-        if (state != autopilotState) {
-            synchronized(this) {
-                when (state) {
-                    7 -> {
-                        if (this.autopilotState != 7) {
-                            isAutoDriving = false
-                            Log.d(TAG, "onAutopilotStatusResponse-7")
-                            ThreadUtils.runOnUiThread({
-                                updateUI(PARALLEL_DRIVING)
-                            }, ThreadUtils.MODE.QUEUE)
-                        }
-                    }
+        when (state) {
+            7 -> {
+                if (this.autopilotState != 7) {
+                    isAutoDriving = false
+                    Log.d(TAG, "onAutopilotStatusResponse-7")
+                    ThreadUtils.runOnUiThread({
+                        updateUI(PARALLEL_DRIVING)
+                    }, ThreadUtils.MODE.QUEUE)
+                }
+            }
 
-                    2 -> {
-                        if (this.autopilotState != state) {
-                            isAutoDriving = true
-                            Log.d(TAG, "onAutopilotStatusResponse-2")
-                        }
-                    }
-
-                    else -> {
-                        if (this.autopilotState != state) {
-                            isAutoDriving = false
-                            Log.d(TAG, "onAutopilotStatusResponse-else")
-                            if (this.autopilotState == 7) {
-                                ThreadUtils.runOnUiThread({
-                                    checkAvailableAndUpdateUI()
-                                }, ThreadUtils.MODE.QUEUE)
-                            }
-                        }
+            2 -> {
+                if (this.autopilotState != state) {
+                    isAutoDriving = true
+                    Log.d(TAG, "onAutopilotStatusResponse-2")
+                    if (this.autopilotState == 7) {
+                        ThreadUtils.runOnUiThread({
+                            checkAvailableAndUpdateUI()
+                        }, ThreadUtils.MODE.QUEUE)
+                    }
+                }
+            }
+
+            else -> {
+                if (this.autopilotState != state) {
+                    isAutoDriving = false
+                    Log.d(TAG, "onAutopilotStatusResponse-else")
+                    if (this.autopilotState == 7) {
+                        ThreadUtils.runOnUiThread({
+                            checkAvailableAndUpdateUI()
+                        }, ThreadUtils.MODE.QUEUE)
                     }
                 }
-                this.autopilotState = state
             }
         }
+        this.autopilotState = state
     }
 
     override fun onParallelDrivingAbility(