diff --git a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
index 3e50d291cf..5182e28a36 100644
--- a/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
+++ b/OCH/mogo-och-sweeper/src/main/java/com/mogo/och/sweeper/model/SweeperTaskModel.java
@@ -28,6 +28,7 @@ import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListener
 import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.CoordinateUtils;
 import com.mogo.eagle.core.utilcode.util.NetworkUtils;
+import com.mogo.eagle.core.utilcode.util.ThreadUtils;
 import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.och.common.module.biz.common.socketmessage.OCHSocketMessageManager;
 import com.mogo.och.common.module.biz.common.socketmessage.data.OCHOperationalMessage;
@@ -38,6 +39,7 @@ import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.NumberFormatUtil;
 import com.mogo.och.common.module.utils.PinYinUtil;
 import com.mogo.och.common.module.utils.ToastUtilsOch;
+import com.mogo.och.common.module.voice.VoiceNotice;
 import com.mogo.och.sweeper.R;
 import com.mogo.och.sweeper.bean.BaseResponse;
 import com.mogo.och.sweeper.bean.SubInfo;
@@ -686,6 +688,10 @@ public class SweeperTaskModel {
                                 if (mAutopilotState == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
                                     cancelAutoPilot();
                                     startAutopilot();
+
+                                    //提示必须是N档，且拉起手刹 才能进入自动驾驶
+                                    VoiceNotice.showNotice(mContext.getString(R.string.sweeper_arrive_auto_start_next_subtask_tips));
+                                    ToastUtils.showLong(mContext.getString(R.string.sweeper_arrive_auto_start_next_subtask_tips));
                                 }
                             }
                         }
diff --git a/OCH/mogo-och-sweeper/src/main/res/values/strings.xml b/OCH/mogo-och-sweeper/src/main/res/values/strings.xml
index c6e6278402..825239b64f 100644
--- a/OCH/mogo-och-sweeper/src/main/res/values/strings.xml
+++ b/OCH/mogo-och-sweeper/src/main/res/values/strings.xml
@@ -24,4 +24,5 @@
     <string name="sweeper_arrive_to_next_tag">下一站：</string>
     <string name="sweeper_auto_disable_tip">自动驾驶状态为0不可用</string>
     <string name="sweeper_operate_panel_cmd_execute_timeout">预计等待%d秒</string>
+    <string name="sweeper_arrive_auto_start_next_subtask_tips">请保持档位在N档并拉起手刹后启动自动驾驶</string>
 </resources>