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 499fff2033..24e8329737 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
@@ -3,6 +3,7 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
 import android.os.Message;
 
 import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
 
 import java.util.List;
 import java.util.Timer;
@@ -27,10 +28,12 @@ public class AutopilotAbility250 {
     private static final String[] NODE_INFO_STATE = {"未知状态 ", "依赖未就绪 ", "启动中 ", "运行 ", "停止 ", "无法启动状态 ", "人为启动状态 ", "人为关闭状态 "};
     private volatile Timer timer;
     private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private int mapVersion = -1;//工控机版本
+    private int mapVersion = -1;//MAP版本
+    private int masterVersion = -1;//Master版本
 
     public AutopilotAbility250(int mapVersion) {
         this.mapVersion = mapVersion;
+        this.masterVersion = -1;
     }
 
 
@@ -51,19 +54,18 @@ public class AutopilotAbility250 {
         String unableAutopilotReason = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
-            int version = -1;
-            if (statusInfo.hasMasterVersion()) {
+            if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
                 //截取Master Version
-                String masterVersion = statusInfo.getMasterVersion();
-                version = AdasManager.getInstance().parseVersion(false, masterVersion);
+                masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
             }
+            CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
             //SSM 3版本兼容
-            if (mapVersion >= 30400 && version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
+            if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
                 }
-            } else if (mapVersion >= 21000 && version > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
+            } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -176,6 +178,7 @@ public class AutopilotAbility250 {
             timer = null;
         }
         this.chassisStates = null;
+        this.masterVersion = -1;
     }
 
 
diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
index 49c8c5c192..18be7c4e9a 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbility330.java
@@ -2,8 +2,8 @@ package com.zhidao.support.adas.high.common.autopilot.ability;
 
 import android.os.Message;
 
-import com.google.protobuf.TextFormat;
 import com.zhidao.support.adas.high.AdasManager;
+import com.zhidao.support.adas.high.common.CupidLogUtils;
 
 import java.util.List;
 import java.util.Timer;
@@ -29,8 +29,12 @@ public class AutopilotAbility330 {
     private volatile Timer timer;
 
     private volatile FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond;//自动驾驶状态为OFF的原因
+    private int mapVersion = -1;//MAP版本
+    private int masterVersion = -1;//Master版本
 
-    public AutopilotAbility330() {
+    public AutopilotAbility330(int mapVersion) {
+        this.mapVersion = mapVersion;
+        this.masterVersion = -1;
     }
 
     public synchronized void setFsmStatusReasonRespond(FSMStatusReasonQueryOuterClass.FSMStatusReasonRespond fsmStatusReasonRespond) {
@@ -51,19 +55,18 @@ public class AutopilotAbility330 {
         String unableAutopilotReason = null;//不能启动自动驾驶原因
         //检测节点状态相关
         if (statusInfo != null) {
-            int version = -1;
-            if (statusInfo.hasMasterVersion()) {
+            if (masterVersion == -1 && statusInfo.hasMasterVersion()) {
                 //截取Master Version
-                String masterVersion = statusInfo.getMasterVersion();
-                version = AdasManager.getInstance().parseVersion(false, masterVersion);
+                masterVersion = AdasManager.getInstance().parseVersion(false, statusInfo.getMasterVersion());
             }
+            CupidLogUtils.i(TAG, "MasterVersion=" + masterVersion);
             //SSM 3版本兼容
-            if (version > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
+            if (mapVersion >= 30400 && masterVersion > 2 && statusInfo.hasAutoPilotReady() && statusInfo.hasAutoPilotUnreadyReason()) {
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     unableAutopilotReason = statusInfo.getAutoPilotUnreadyReason();
                 }
-            } else if (version > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
+            } else if (mapVersion >= 21000 && masterVersion > 1 && statusInfo.hasAutoPilotReady()) {//如果 maser version 大于1，还需要判断AutoPilotReady字段是否存在，以确保MAP版本和SSM Maser版本不陪配情况逻辑能正常执行
                 isAutopilotAbility = statusInfo.getAutoPilotReady();
                 if (!isAutopilotAbility) {
                     SystemStatusInfo.NodeFaultList nodeFaultList = statusInfo.getAutoPilotUnreadyList();
@@ -162,6 +165,7 @@ public class AutopilotAbility330 {
             timer.cancel();
             timer = null;
         }
+        this.masterVersion = -1;
     }
 
 
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 e64c80c75b..d3f69d1148 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
@@ -168,7 +168,7 @@ public class AutopilotAbilityManager {
             stop230();
             stop250();
             if (autopilotAbility330 == null) {
-                autopilotAbility330 = new AutopilotAbility330();
+                autopilotAbility330 = new AutopilotAbility330(mapVersion);
                 autopilotAbility330.start();
             }
         } else if (mapVersion >= 20500) {
@@ -243,6 +243,7 @@ public class AutopilotAbilityManager {
         stopTimer();
         stop230();
         stop250();
+        stop330();
         handler = null;
         mapVersion = -1;
         isFutianSweeper = false;