diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
index 5a3ccc8bdf..cfc52685e3 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/autopilot/ability/AutopilotAbilityManager.java
@@ -447,7 +447,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
         NodeStateInfo info = getNodeStateInfo(AdasConstants.NodeName.FSM2024);
         info.setNodeState(isSupport > 0 ? AdasConstants.NodeState.NODE_EXIST : AdasConstants.NodeState.NODE_NOT_EXIST);
         info.setExistState(existState);
-        listener.onNodeStateInfo(info);
+        if (listener != null) {
+            listener.onNodeStateInfo(info);
+        }
     }
 
     private synchronized void onCallSSMTimeout(AdasConstants.SsmSource source, boolean isTimeout) {
@@ -463,7 +465,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
             NodeStateInfo info = getNodeStateInfo(AdasConstants.NodeName.SSM);
             info.setNodeState(AdasConstants.NodeState.NODE_EXIST);
             info.setExistState(isTimeout ? AdasConstants.NodeExistState.NODE_EXIST_TIMEOUT : AdasConstants.NodeExistState.NODE_EXIST_NORMAL);
-            listener.onNodeStateInfo(info);
+            if (listener != null) {
+                listener.onNodeStateInfo(info);
+            }
         }
     }
 
@@ -473,7 +477,9 @@ public class AutopilotAbilityManager implements OnAutopilotAbilityListener {
             NodeStateInfo info = getNodeStateInfo(AdasConstants.NodeName.FSM2024);
             info.setNodeState(AdasConstants.NodeState.NODE_EXIST);
             info.setExistState(isTimeout ? AdasConstants.NodeExistState.NODE_EXIST_TIMEOUT : AdasConstants.NodeExistState.NODE_EXIST_NORMAL);
-            listener.onNodeStateInfo(info);
+            if (listener != null) {
+                listener.onNodeStateInfo(info);
+            }
         }
     }