diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
index 20d84040a4..a0daf31b51 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/MoGoAutopilotControlProvider.kt
@@ -397,7 +397,6 @@ class MoGoAutopilotControlProvider :
                 invokeAutoPilotResult(if (invokeResult > -1) "无参自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
             } else {
                 invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶 无参")
-                CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法开启自动驾驶")
             }
         }
     }
@@ -414,7 +413,6 @@ class MoGoAutopilotControlProvider :
                 invokeAutoPilotResult(if (invokeResult > -1) "自动驾驶调用成功：${invokeResult}" else "自动驾驶调用失败, socket 或者 rawPack 可能为空")
             } else {
                 invokeAutoPilotResult("车机与工控机链接失败，无法开启自动驾驶")
-                CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法开启自动驾驶")
             }
         }
     }
@@ -459,9 +457,10 @@ class MoGoAutopilotControlProvider :
 
     override fun cancelAutoPilot() {
         if (AdasManager.getInstance().ipcConnectionStatus == AdasConstants.IpcConnectionStatus.CONNECTED) {
-            AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
+            val invokeResult = AdasManager.getInstance().sendAutoPilotModeReq(0, 1, null)
+            invokeAutoPilotResult(if (invokeResult > -1) "取消自动驾驶调用成功：${invokeResult}" else "取消自动驾驶调用失败, socket 或者 rawPack 可能为空")
         } else {
-            CallerLogger.e("$M_D_C$TAG", "车机与工控机链接失败，无法断开自动驾驶")
+            invokeAutoPilotResult("车机与工控机链接失败，无法取消自动驾驶")
         }
     }
 
diff --git a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
index 3159c87f95..290600fc83 100644
--- a/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
+++ b/core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt
@@ -57,8 +57,10 @@ import com.mogo.eagle.core.utilcode.mogo.logger.Logger
 import com.mogo.eagle.core.utilcode.util.DeviceUtils
 import com.mogo.support.obu.ObuScene
 import com.zhidao.support.adas.high.OnAdasListener
+import com.zhidao.support.adas.high.chain.AdasChain
 import com.zhjt.mogo.adas.data.bean.AdasParam
 import com.zhidao.support.adas.high.common.ProtocolStatus
+import com.zhjt.mogo.adas.common.MessageType
 import com.zhjt.mogo.adas.data.AiCloudTask
 import com.zhjt.mogo.adas.data.bean.AutopilotStatistics
 import com.zhjt.mogo.adas.data.bean.ReceivedAck
@@ -1056,6 +1058,29 @@ class MoGoAdasListenerImpl : OnAdasListener {
      */
     override fun onReceiveReceivedAck(receivedAck: ReceivedAck) {
         CallerReceiveReceivedAckListenerManager.invokeReceiveReceivedAck(receivedAck)
+        if (receivedAck.messageType == MessageType.TYPE_SEND_SET_AUTOPILOT_MODE_REQ ||//设置自动驾驶模式
+            receivedAck.messageType == MessageType.TYPE_SEND_SET_DEMO_MODE_REQ ||//设置演示模式
+            receivedAck.messageType == MessageType.TYPE_SEND_SET_AUTOPILOT_SPEED_REQ ||//设置自动驾驶最大速度
+            receivedAck.messageType == MessageType.TYPE_SEND_SYSTEM_CMD_REQ ||//系统命令请求
+            receivedAck.messageType == MessageType.TYPE_SEND_TRAJECTORY_DOWNLOAD_REQ ||//轨迹下载请求
+            receivedAck.messageType == MessageType.TYPE_SEND_SET_RAIN_MODE_REQ ||//设置雨天模式
+            receivedAck.messageType == MessageType.TYPE_SEND_OPERATOR_CMD_REQ ||//操控指令
+            receivedAck.messageType == MessageType.TYPE_SEND_SUBSCRIBE_DATA_REQ ||//数据订阅、取消订阅请求
+            receivedAck.messageType == MessageType.TYPE_SEND_SET_PARAM_REQ ||//设置参数命令
+            receivedAck.messageType == MessageType.TYPE_SEND_PLANNING_CMD ||//给Planning指令
+            receivedAck.messageType == MessageType.TYPE_SEND_SET_PARAM_REQ_V2 //设置参数命令V2
+        ) {
+            receiveReceivedAck(receivedAck)
+        }
+    }
+
+    @ChainLog(
+        linkChainLog = AdasChain.CHAIN_TYPE_SOCKET_AUTOPILOT,
+        linkCode = AdasChain.CHAIN_SOURCE_ADAS,
+        nodeAliasCode = AdasChain.CHAIN_CODE_ADAS_START_AUTOPILOT,
+        paramIndexes = [0]
+    )
+    private fun receiveReceivedAck(receivedAck: ReceivedAck) {
     }
 
     @ChainLog(
diff --git a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReceivedAck.java b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReceivedAck.java
index 100b438df3..bdf7e9b05d 100644
--- a/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReceivedAck.java
+++ b/libraries/mogo-adas-data/src/main/java/com/zhjt/mogo/adas/data/bean/ReceivedAck.java
@@ -1,8 +1,6 @@
 package com.zhjt.mogo.adas.data.bean;
 
 
-import android.util.Log;
-
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
 
@@ -24,7 +22,7 @@ import mogo.telematics.pad.MessagePad;
  * {@link MessageType#TYPE_SEND_SET_RAIN_MODE_REQ}设置雨天模式
  * {@link MessageType#TYPE_SEND_OPERATOR_CMD_REQ}操控指令
  * {@link MessageType#TYPE_SEND_SUBSCRIBE_DATA_REQ}数据订阅、取消订阅请求
- * {@link MessageType#TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD}设置参数命令
+ * {@link MessageType#TYPE_SEND_SPECIAL_VEHICLE_TASK_CMD}特种车辆命令
  * {@link MessageType#TYPE_SEND_SET_PARAM_REQ}设置参数命令
  * {@link MessageType#TYPE_SEND_PLANNING_CMD}给Planning指令
  * {@link MessageType#TYPE_SEND_SET_PARAM_REQ_V2}设置参数命令V2
@@ -126,7 +124,6 @@ public class ReceivedAck {
     }
 
 
-
     @Override
     public String toString() {
         return "{" +