diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
index c6262754d8..a728266da4 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/DevaToolsProvider.kt
@@ -155,10 +155,12 @@ class DevaToolsProvider : IDevaToolsProvider, IAppStateListener {
                                         AIAssist.getInstance(it).speakTTSVoice("识别故障即将停车，请注意观察，小心接管")
                                     }
                                     CallerHmiManager.toggleSafetyStopCarWarning(true)
+
                                 }
                             }
                             if (state == Fsm2024.State.SAFETY_STOPPED) {
                                 if (AppIdentityModeUtils.isDriver(FunctionBuildConfig.appIdentityMode)) {
+                                    CallerHmiManager.toggleSafetyStopCarWarning(false)
                                     AppStateManager.currentActivity()?.also {
                                         AIAssist.getInstance(it).speakTTSVoice("请接管恢复停车状态")
                                     }
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt
index 7f81c1f4b2..6544a13f50 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/IFlow.kt
@@ -39,4 +39,6 @@ internal abstract class IFlow< T : Status>(val ctx: Context) : CoroutineScope {
     open fun onDestroy() {
         chl.safeCancel()
     }
+
+    fun peek(): T? = chl.tryReceive().getOrNull()
 }
\ No newline at end of file
diff --git a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/SafetyStopCarImpl.kt b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/SafetyStopCarImpl.kt
index 9c14dcf911..19b1187e0f 100644
--- a/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/SafetyStopCarImpl.kt
+++ b/core/function-impl/mogo-core-function-devatools/src/main/java/com/zhjt/mogo_core_function_devatools/status/flow/fsm/SafetyStopCarImpl.kt
@@ -1,21 +1,30 @@
 package com.zhjt.mogo_core_function_devatools.status.flow.fsm
 
 import android.content.Context
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotCarConfigListener
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoFsm2024Listener
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerFsm2024ListenerManager
+import com.mogo.eagle.core.function.call.hmi.CallerHmiManager
+import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.zhjt.mogo_core_function_devatools.status.entity.SafetyStopCarStatus
 import com.zhjt.mogo_core_function_devatools.status.flow.IFlow
 import fsm.Fsm2024
 import fsm.Fsm2024.FSMStateMsg
 
-internal class SafetyStopCarImpl(ctx: Context): IFlow<SafetyStopCarStatus>(ctx), IMoGoFsm2024Listener {
+internal class SafetyStopCarImpl(ctx: Context): IFlow<SafetyStopCarStatus>(ctx), IMoGoFsm2024Listener, IMoGoAutopilotStatusListener {
 
     companion object {
         private const val TAG = "SafetyStopCarImpl"
     }
 
+    @Volatile
+    private var lastState: Int = -1
+
     override fun onCreate() {
         CallerFsm2024ListenerManager.addListener(TAG, this)
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
     }
 
 
@@ -28,5 +37,22 @@ internal class SafetyStopCarImpl(ctx: Context): IFlow<SafetyStopCarStatus>(ctx),
     override fun onDestroy() {
         super.onDestroy()
         CallerFsm2024ListenerManager.removeListener(TAG)
+        CallerAutoPilotStatusListenerManager.removeListener(TAG)
+    }
+
+    override fun onAutopilotStatusResponse(state: Int) {
+        super.onAutopilotStatusResponse(state)
+        Logger.d(TAG, "--- onAutopilotStatusResponse --- 1 ---: $state")
+        if (lastState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING && lastState != state) {
+            //从自驾转成非自驾
+            Logger.d(TAG, "--- onAutopilotStatusResponse --- 2 ---: $state")
+            if (peek()?.data?.functionState == Fsm2024.State.SAFETY_STOP) {
+                Logger.d(TAG, "--- onAutopilotStatusResponse --- 3 ---: $state")
+                CallerHmiManager.toggleSafetyStopCarWarning(false)
+            }
+        }
+        if (lastState != state) {
+            lastState = state
+        }
     }
 }
\ No newline at end of file