diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
index 1f61b0b8de..2c7eb802e3 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/OperatePanelLayout.kt
@@ -1500,10 +1500,17 @@ class OperatePanelLayout : LinearLayout {
     }
 //    CallerAutoPilotControlManager
     class VehiclesPreferenceFragmentCompat : OperatePanelDetailBase(), IMoGoAutopilotCarConfigListener,
-        ISopSettingListener, IViewControlListener, IMoGoGetParamResponseListener{
+        ISopSettingListener, IViewControlListener, IMoGoGetParamResponseListener, IMoGoAutopilotStatusListener{
+        private var v2xIsShow: Boolean = false
+        private var operatePaneIsShow = true
+        private var prevIpcConnectStatus = false
+        private var customToast: Toast? = null
         companion object {
             private const val TAG = "VehiclesPreferenceFragmentCompat"
             private const val IS_CHECKED_DRIVING_STYLE = "is_checked_driving_style"
+
+            private const val WHAT_UPDATE_ENABLE = 0x00//更新按钮状态
+
             private const val KEY_PNC_PARK_INTERSECTION_CAR = "pnc_park_intersection_car"
             private const val KEY_PNC_PARK_OVERTAKE_CAR = "pnc_park_overtake_car"
             private const val KEY_DETOUR_RETARD_PARK = "detour_retard_park"
@@ -1530,6 +1537,8 @@ class OperatePanelLayout : LinearLayout {
 
         override fun onCreateView(inflater: LayoutInflater, container: ViewGroup?, savedInstanceState: Bundle?): View {
             Logger.d(TAG, "--- onCreateView --- 1 ---")
+            prevIpcConnectStatus = AppConfigInfo.isConnectAutopilot
+            CallerAutoPilotStatusListenerManager.addListener(TAG, this)
             CallerAutopilotGetParamResponseDispatcher.addListener(TAG, this)
             CallerAutopilotCarConfigListenerManager.addListener(TAG, this)
             CallerSopSettingManager.addListener(TAG, this)
@@ -1565,9 +1574,136 @@ class OperatePanelLayout : LinearLayout {
             CallerAutopilotCarConfigListenerManager.removeListener(TAG)
             CallerSopSettingManager.removeListener(TAG)
             CallerHmiViewControlListenerManager.removeListener(TAG)
+            CallerAutoPilotStatusListenerManager.removeListener(TAG)
+            handler.removeCallbacksAndMessages(null)
             super.onDestroyView()
         }
 
+        override fun operatePanelDisplayStatus(isShow: Boolean) {
+            super.operatePanelDisplayStatus(isShow)
+            operatePaneIsShow = isShow
+            if (isShow) {
+                if (v2xIsShow) {
+                    handler.sendEmptyMessage(WHAT_UPDATE_ENABLE)
+                }
+            } else {
+                handler.removeMessages(WHAT_UPDATE_ENABLE)
+                customToast?.cancel()
+                customToast = null
+            }
+        }
+
+        override fun onResume() {
+            super.onResume()
+            prevIpcConnectStatus = AppConfigInfo.isConnectAutopilot
+            v2xIsShow = true
+            if (operatePaneIsShow) {
+                handler.sendEmptyMessage(WHAT_UPDATE_ENABLE)
+            }
+        }
+
+        override fun onPause() {
+            super.onPause()
+            v2xIsShow = false
+            handler.removeMessages(WHAT_UPDATE_ENABLE)
+            customToast?.cancel()
+            customToast = null
+        }
+
+        private val handler = object : Handler(Looper.getMainLooper()) {
+            override fun handleMessage(msg: Message) {
+                super.handleMessage(msg)
+                if (msg.what == WHAT_UPDATE_ENABLE) {
+                    if (this.hasMessages(WHAT_UPDATE_ENABLE)) {
+                        this.removeMessages(WHAT_UPDATE_ENABLE)
+                    }
+                    setEnableStatus(AppConfigInfo.isConnectAutopilot)
+                    if (AppConfigInfo.isConnectAutopilot) {
+                        customToast?.cancel()
+                        customToast = null
+                    } else {
+                        showConnectToast()
+                        this.sendEmptyMessageDelayed(WHAT_UPDATE_ENABLE, 5000)
+                    }
+                }
+            }
+        }
+
+        private fun showConnectToast() {
+            try {
+                AppStateManager.currentActivity()?.let {
+                    val customToastView =
+                        it.layoutInflater.inflate(R.layout.view_ipc_connect_status_toast, null)
+                    customToast = Toast(MainMoGoApplication.getApp().applicationContext)
+                    customToast!!.duration = Toast.LENGTH_SHORT
+                    customToast!!.view = customToastView
+                    customToast!!.setGravity(
+                        Gravity.START,
+                        AutoSizeUtils.dp2px(MainMoGoApplication.getApp().applicationContext, 280f),
+                        0
+                    )
+                    customToast!!.show()
+                }
+            } catch (_: Exception) {
+            }
+        }
+
+        override fun onAutopilotIpcConnectStatusChanged(
+            status: AdasConstants.IpcConnectionStatus,
+            reason: String?
+        ) {
+            if (prevIpcConnectStatus != AppConfigInfo.isConnectAutopilot) {
+                if (operatePaneIsShow && v2xIsShow) {
+                    handler.sendEmptyMessage(WHAT_UPDATE_ENABLE)
+                }
+            }
+            prevIpcConnectStatus = AppConfigInfo.isConnectAutopilot
+        }
+
+        private fun setEnableStatus(isEnable: Boolean){
+            if(preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_PNC_PARK_INTERSECTION_CAR)?.isEnabled == isEnable){
+                return
+            }
+            //PNC-Park-会车
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_PNC_PARK_INTERSECTION_CAR)?.isEnabled = isEnable
+            //PNC-Park-超车
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_PNC_PARK_OVERTAKE_CAR)?.isEnabled = isEnable
+            //绕障减速停车
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_DETOUR_RETARD_PARK)?.isEnabled = isEnable
+            //雨天模式
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_RAIN_DAY)?.isEnabled = isEnable
+            //故障减速停车
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_FAULT_DECELERATION_PARK)?.isEnabled = isEnable
+            //弱网减速停车
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_WEAK_NET_DECELERATION_PARK)?.isEnabled = isEnable
+            //考试功能面板
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_EXAM_FUNCTION_PANEL)?.isEnabled = isEnable
+            //融合模式 - 全融合模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_ALL_MERGE_MODE)?.isEnabled = isEnable
+            //融合模式 - 盲区模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_BLIND_AREA_MODE)?.isEnabled = isEnable
+            //融合模式 - 超视距模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_BEYOND_VISUAL_RANGE_MODE)?.isEnabled = isEnable
+            //融合模式 - 透传模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_TRANSPARENT_TRANSFER_MODE)?.isEnabled = isEnable
+            //融合模式 - 纯路侧模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_PURE_OBU_MODE)?.isEnabled = isEnable
+            //AIP功能
+            preferenceScreen.findPreferenceReal<SwitchPreferenceCompat>(KEY_AIP_FUNCTION)?.isEnabled = isEnable
+            //驾驶模式 - 正常模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_DRIVING_STYLE_NORMAL)?.isEnabled = isEnable
+            //驾驶模式 - 安全模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_DRIVING_STYLE_SAFETY)?.isEnabled = isEnable
+            //驾驶模式 - 专业模式
+            preferenceScreen.findPreferenceReal<CheckBoxPreference>(KEY_DRIVING_STYLE_PROFESSIONAL)?.isEnabled = isEnable
+            //自动驾驶速度阈值
+            preferenceScreen.findPreferenceReal<PreferenceWithSpeedSetting>(KEY_AUTO_PILOT_SPEED_THRESHOLDS)?.isEnabled = isEnable
+            //变道速度阈值
+            preferenceScreen.findPreferenceReal<PreferenceWithSpeedSetting>(KEY_CHANGE_LANE_SPEED_THRESHOLDS)?.isEnabled = isEnable
+            //超车速度阈值
+            preferenceScreen.findPreferenceReal<PreferenceWithSpeedSetting>(KEY_OVERTAKE_SPEED_THRESHOLDSS)?.isEnabled = isEnable
+        }
+
         override fun updateFuncMode(tag: String, boolean: Boolean) {
             super.updateFuncMode(tag, boolean)
             if (tag == FUNC_MODE_RAIN) {
diff --git a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/preferences/PreferenceWithSpeedSetting.kt b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/preferences/PreferenceWithSpeedSetting.kt
index f990d1e229..48228ab1b2 100644
--- a/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/preferences/PreferenceWithSpeedSetting.kt
+++ b/core/function-impl/mogo-core-function-hmi/src/main/java/com/mogo/eagle/core/function/hmi/ui/operate/preferences/PreferenceWithSpeedSetting.kt
@@ -92,8 +92,10 @@ class PreferenceWithSpeedSetting : Preference {
                     return@doAfterTextChanged
                 }
                 cur = temp
-                btnOk.isEnabled = true
-                ll.isSelected = true
+                btnOk.isEnabled = isEnabled
+//                btnOk.isEnabled = true
+                ll.isSelected = isEnabled
+//                ll.isSelected = true
                 cache[key] = cur
                 enabled[key] = true
                 holder.itemView.isEnabled = false
@@ -102,9 +104,16 @@ class PreferenceWithSpeedSetting : Preference {
             speedLimit?.text = cur.toString()
         }
         val minus = holder.findViewById(R.id.iv_speed_minus)
-        btnOk.isEnabled = enabled[key] ?: false
+        if (isEnabled) {
+            btnOk.isEnabled = enabled[key] ?: false
+            ll.isSelected = enabled[key] ?: false
+        } else {
+            btnOk.isEnabled = false
+            ll.isSelected = false
+        }
+//        btnOk.isEnabled = enabled[key] ?: false
         holder.itemView.isEnabled = enabled[key] ?: false
-        ll.isSelected = enabled[key] ?: false
+//        ll.isSelected = enabled[key] ?: false
         minus.setOnClickListener(null)
         minus.onClickWidthDuration(100) {
             val minusAfter = cur - step
@@ -113,8 +122,10 @@ class PreferenceWithSpeedSetting : Preference {
                 return@onClickWidthDuration
             }
             cur = minusAfter
-            btnOk.isEnabled = true
-            ll.isSelected = true
+            btnOk.isEnabled = isEnabled
+//            btnOk.isEnabled = true
+            ll.isSelected = isEnabled
+//            ll.isSelected = true
             cache[key] = cur
             enabled[key] = true
             holder.itemView.isEnabled = false
@@ -135,8 +146,10 @@ class PreferenceWithSpeedSetting : Preference {
             holder.itemView.isEnabled = false
             cur = addAfter
             cache[key] = cur
-            ll.isSelected = true
-            btnOk.isEnabled = true
+            ll.isSelected = isEnabled
+//            ll.isSelected = true
+            btnOk.isEnabled = isEnabled
+//            btnOk.isEnabled = true
             enabled[key] = true
             if (speedLimit is EditText) {
                 speedLimit.setText(addAfter.toString())