diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
index 9c0e640129..688392075c 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/ParallelDrivingManager.java
@@ -1,11 +1,14 @@
 package com.zhidao.support.adas.high.common;
 
 
+import android.util.Log;
+
 import com.zhidao.support.adas.high.AdasManager;
 import com.zhidao.support.adas.high.OnAdasListener;
 
 import java.util.Timer;
 import java.util.TimerTask;
+import java.util.concurrent.atomic.AtomicReference;
 
 import chassis.Chassis;
 import chassis.ChassisStatesOuterClass;
@@ -22,8 +25,8 @@ public class ParallelDrivingManager {
     private volatile Timer callbackTimer;
     private volatile Timer bootTimer;
     private OnAdasListener listener;
-    private ChassisStatesOuterClass.ChassisStates chassisStates;
-    private VehicleStateOuterClass.VehicleState vehicleState;
+    private final AtomicReference<ChassisStatesOuterClass.ChassisStates> chassisStates = new AtomicReference<>();
+    private final AtomicReference<VehicleStateOuterClass.VehicleState> vehicleState = new AtomicReference<>();
     private int autopilotState;
     /**
      * 不能启动平行驾驶的档位
@@ -62,11 +65,11 @@ public class ParallelDrivingManager {
     }
 
     public void setChassisStates(ChassisStatesOuterClass.ChassisStates chassisStates) {
-        this.chassisStates = chassisStates;
+        this.chassisStates.set(chassisStates);
     }
 
     public void setVehicleState(VehicleStateOuterClass.VehicleState vehicleState) {
-        this.vehicleState = vehicleState;
+        this.vehicleState.set(vehicleState);
     }
 
     /**
@@ -84,31 +87,33 @@ public class ParallelDrivingManager {
         float throttle = 0;
         boolean isBrake = false;
         //检测底盘相关
-        if (chassisStates != null) {
-            if (chassisStates.hasBrakeSystemStates()) {
-                brake = chassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
+        ChassisStatesOuterClass.ChassisStates currentChassisStates = chassisStates.get();
+        if (currentChassisStates != null) {
+            if (currentChassisStates.hasBrakeSystemStates()) {
+                brake = currentChassisStates.getBrakeSystemStates().getBrakePedalResponsePosition();
                 CupidLogUtils.i(TAG, "刹车=" + brake);
             } else {
                 CupidLogUtils.i(TAG, "刹车=未赋值");
             }
-            if (chassisStates.hasGearSystemStates()) {
-                gear = chassisStates.getGearSystemStates().getGearPosition();
+            if (currentChassisStates.hasGearSystemStates()) {
+                gear = currentChassisStates.getGearSystemStates().getGearPosition();
                 CupidLogUtils.i(TAG, "档位=" + gear);
             } else {
                 CupidLogUtils.i(TAG, "档位=未赋值");
             }
-            if (chassisStates.hasDrivingSystemStates()) {
-                throttle = chassisStates.getDrivingSystemStates().getThrottleResponsePosition();
+            if (currentChassisStates.hasDrivingSystemStates()) {
+                throttle = currentChassisStates.getDrivingSystemStates().getThrottleResponsePosition();
                 CupidLogUtils.i(TAG, "油门=" + throttle);
             } else {
                 CupidLogUtils.i(TAG, "油门=未赋值");
             }
         }
-        if (vehicleState != null) {
+        VehicleStateOuterClass.VehicleState currentVehicleState = vehicleState.get();
+        if (currentVehicleState != null) {
             //TODO 关于手刹：目前只有老底盘中存在这个字段，df360开始，其他车型未知
             //电子驻车制动系统
-            if (vehicleState.hasParkingBrake()) {
-                isBrake = vehicleState.getParkingBrake();
+            if (currentVehicleState.hasParkingBrake()) {
+                isBrake = currentVehicleState.getParkingBrake();
                 CupidLogUtils.i(TAG, " 手刹=" + isBrake);
             } else {
                 CupidLogUtils.i(TAG, " 手刹=未赋值");
@@ -137,7 +142,11 @@ public class ParallelDrivingManager {
                 callbackTimer.schedule(new TimerTask() {
                     @Override
                     public void run() {
-                        onCallback();
+                        try {
+                            onCallback();
+                        } catch (Exception e) {
+                            Log.e("[tag=" + TAG + "]", "[data=启动平行驾驶能力检测回调出现异常]", e);
+                        }
                     }
                 }, 2000L, 1000L);//延迟执行，避免刚连接成功后底盘信息无法及时同步
             }
@@ -182,7 +191,7 @@ public class ParallelDrivingManager {
             callbackTimer.cancel();
             callbackTimer = null;
         }
-        this.chassisStates = null;
-        this.vehicleState = null;
+        this.chassisStates.set(null);
+        this.vehicleState.set(null);
     }
 }