diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusADASStatusCallback.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusADASStatusCallback.java
new file mode 100644
index 0000000000..186fc0b5f4
--- /dev/null
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/callback/IBusADASStatusCallback.java
@@ -0,0 +1,11 @@
+package com.mogo.och.bus.callback;
+
+/**
+ * Created on 2021/9/8
+ *
+ * Model->Presenter回调：ADAS相关（自动驾驶状态回调，到达终点等等）
+ */
+public interface IBusADASStatusCallback {
+    //自驾返回失败
+    void onStartAdasFailure();
+}
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt
index b75ef88c4c..686e08b4e4 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/constant/BusConst.kt
@@ -63,6 +63,7 @@ class BusConst {
         const val EVENT_PARAM_END_NAME = "end_name"
         const val EVENT_PARAM_LINE_ID = "line_id"
         const val EVENT_PARAM_START_RESULT = "start_autopilot" // true/false
+        const val EVENT_PARAM_START_FAILURE_MSG = "start_autopilot_failure_msg" // 启动自驾失败原因
         const val EVENT_PARAM_PLATE_NUM = "plate_number" // 车牌号
         const val EVENT_PARAM_ENV_ONLINE = "env_online" // 是否线上环境：true/false
         // 埋点key：开启自动驾驶前已识别的异常，会导致无法开启自驾
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
index e9f730bdb4..a780ffb698 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/fragment/BaseBusTabFragment.java
@@ -385,14 +385,18 @@ public abstract class BaseBusTabFragment<V extends IView, P extends Presenter<V>
             return;
         }
         if (isAnimateRunning){
-            stopAutopilotAnimation();
-            updateAutopilotStatus(autopilotStatus);
+            stopAnimAndUpdateBtnStatus();
         }else {
             setAutopilotBtnStatus(autopilotStatus);
         }
 
     }
 
+    public void stopAnimAndUpdateBtnStatus(){
+        stopAutopilotAnimation();
+        updateAutopilotStatus(CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState());
+    }
+
     /**
      * 隐藏【自动驾驶】按钮
      */
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
index 058019a8a9..1212ebb74a 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/model/BusOrderModel.java
@@ -40,6 +40,7 @@ import com.mogo.och.bus.bean.BusRoutesResponse;
 import com.mogo.och.bus.bean.BusRoutesResult;
 import com.mogo.och.bus.bean.BusStationBean;
 import com.mogo.och.bus.bean.WriteOffPassenger;
+import com.mogo.och.bus.callback.IBusADASStatusCallback;
 import com.mogo.och.bus.callback.IBusControllerStatusCallback;
 import com.mogo.och.bus.callback.IPassengerCallback;
 import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
@@ -53,6 +54,7 @@ import com.mogo.och.bus.util.BusTrajectoryManager;
 import com.mogo.och.common.module.biz.constant.OchCommonConst;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.biz.provider.LoginService;
+import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
 import com.mogo.och.common.module.utils.DateTimeUtil;
@@ -104,6 +106,7 @@ public class BusOrderModel {
     private ISlidePannelHideCallback slidePanelHideCallback;
     private IBusControllerStatusCallback mControllerStatusCallback; //Model->Presenter：VR mode等
     private IPassengerCallback mPassengerCallback; //乘客核销回调
+    private IBusADASStatusCallback mADASStatusCallback;
 
     List<BusRoutePlanningUpdateReqBean.Result> points = new ArrayList<>();//全路径信息
 
@@ -159,6 +162,9 @@ public class BusOrderModel {
 
             //自动驾驶路线规划接口
             CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
+
+            //开启自驾后 异常信息返回
+            OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener);
         }
 
         //2022.1.28
@@ -199,6 +205,10 @@ public class BusOrderModel {
         });
     }
 
+    public void setAdasStatusCallback(IBusADASStatusCallback callback){
+        this.mADASStatusCallback = callback;
+    }
+
     public void setRefreshBusStationsCallback(IRefreshBusStationsCallback callback){
         this.refreshBusStationsCallback = callback;
     }
@@ -296,6 +306,8 @@ public class BusOrderModel {
         //自动驾驶路线规划接口
         CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
         loginService = null;
+
+        OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
     }
 
     private Object readResolve() {
@@ -315,6 +327,17 @@ public class BusOrderModel {
         }
     };
 
+    private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void onStartAutopilotFailure(@NonNull String startFailedMessage) {
+            BusAnalyticsManager.getInstance().triggerStartAutopilotFailureEvent(startFailedMessage);
+            if (mADASStatusCallback != null){
+                CallerLogger.INSTANCE.e( M_BUS + TAG, "mAdasStartFailureListener = "+startFailedMessage );
+                mADASStatusCallback.onStartAdasFailure();
+            }
+        }
+    };
+
     // 自车定位
     private final IMogoCarLocationChangedListener2 mCarLocationChangedListener2 = new IMogoCarLocationChangedListener2() {
 
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
index 0ed6ee5692..c4d1be3b85 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/presenter/BusPresenter.java
@@ -21,6 +21,7 @@ import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.R;
 import com.mogo.och.bus.bean.BusStationBean;
 import com.mogo.och.bus.bean.WriteOffPassenger;
+import com.mogo.och.bus.callback.IBusADASStatusCallback;
 import com.mogo.och.bus.callback.IBusControllerStatusCallback;
 import com.mogo.och.bus.callback.IPassengerCallback;
 import com.mogo.och.bus.callback.IRefreshBusStationsCallback;
@@ -51,7 +52,7 @@ import system_master.SystemStatusInfo;
  */
 public class BusPresenter extends Presenter<BusFragment>
         implements IRefreshBusStationsCallback, ISlidePannelHideCallback
-        , IMoGoAutopilotStatusListener, IBusControllerStatusCallback, ILoginCallback, IPassengerCallback {
+        , IMoGoAutopilotStatusListener, IBusControllerStatusCallback, ILoginCallback, IPassengerCallback, IBusADASStatusCallback {
 
     private static final String TAG = "BusPresenter";
 
@@ -86,6 +87,7 @@ public class BusPresenter extends Presenter<BusFragment>
         BusOrderModel.getInstance().setSlidePanelHideCallback(this);
         BusOrderModel.getInstance().setControllerStatusCallback(this);
         BusOrderModel.getInstance().setPassengerCallback(this);
+        BusOrderModel.getInstance().setAdasStatusCallback(this);
     }
 
     public void releaseListener() {
@@ -93,6 +95,7 @@ public class BusPresenter extends Presenter<BusFragment>
         BusOrderModel.getInstance().setSlidePanelHideCallback(null);
         BusOrderModel.getInstance().setControllerStatusCallback(null);
         BusOrderModel.getInstance().setPassengerCallback(null);
+        BusOrderModel.getInstance().setAdasStatusCallback(null);
         OCHAdasAbilityManager.getInstance().release();
     }
 
@@ -311,4 +314,9 @@ public class BusPresenter extends Presenter<BusFragment>
             VoiceNotice.showNotice("核验通过", AIAssist.LEVEL3);
         }
     }
+
+    @Override
+    public void onStartAdasFailure() {
+        runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
+    }
 }
diff --git a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java
index 63d749bf3c..3a9db07933 100644
--- a/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java
+++ b/OCH/mogo-och-bus/src/main/java/com/mogo/och/bus/util/BusAnalyticsManager.java
@@ -11,9 +11,9 @@ import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListener
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.och.bus.constant.BusConst;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 
 import java.util.HashMap;
-import java.util.Map;
 
 /**
  * OCH Bus埋点工具
@@ -30,18 +30,22 @@ public class BusAnalyticsManager {
         return BusAnalyticsManager.SingletonHolder.INSTANCE;
     }
 
-
-
     private String mStartAutopilotKey;
     private HashMap<String, Object> mStartAutopilotParams = new HashMap<>();
 
     private Runnable startAutopilotRunnable = () -> {
         // 15s内未开启，上报失败埋点
+        triggerStartAutopilotFailureEvent("15s后app等待超时");
+    };
+
+    public void triggerStartAutopilotFailureEvent(String failMsg){
         mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_RESULT
                 , CallerAutoPilotStatusListenerManager.INSTANCE.getAutoPilotStatusInfo().getState() ==
                         IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING);
+        mStartAutopilotParams.put(BusConst.EVENT_PARAM_START_FAILURE_MSG,
+                failMsg);
         AnalyticsManager.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams);
-    };
+    }
 
     /**
      * 触发'开启自动驾驶'埋点流程
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt
new file mode 100644
index 0000000000..b66f82d19a
--- /dev/null
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/callback/OchAdasStartFailureCallback.kt
@@ -0,0 +1,9 @@
+package com.mogo.och.common.module.callback
+
+/**
+ * @author: wangmingjun
+ * @date: 2022/11/9
+ */
+interface OchAdasStartFailureCallback {
+    fun onStartAutopilotFailure(startFailedMessage : String)
+}
\ No newline at end of file
diff --git a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
index 0804a47687..33d7fead37 100644
--- a/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
+++ b/OCH/mogo-och-common-module/src/main/java/com/mogo/och/common/module/manager/OCHAdasAbilityManager.java
@@ -6,9 +6,13 @@ import androidx.annotation.Nullable;
 
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotActionsListener;
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatisticsListener;
 import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotActionsListenerManager;
+import com.mogo.eagle.core.function.call.autopilot.CallerAutopilotStatisticsListenerManager;
 import com.mogo.eagle.core.utilcode.mogo.logger.Logger;
+import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.zhidao.support.adas.high.bean.AutopilotAbility;
+import com.zhidao.support.adas.high.bean.AutopilotStatistics;
 
 import chassis.Chassis;
 import system_master.SystemStatusInfo;
@@ -18,12 +22,15 @@ import system_master.SystemStatusInfo;
  * 工控机状态信息回调（判断是否能否启动自动驾驶的回调）
  * 目前定的是3秒回调一次
  */
-public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener {
+public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener, IMoGoAutopilotStatisticsListener {
 
     private static final String TAG = OCHAdasAbilityManager.class.getSimpleName();
 
     private boolean isAutopilotAbility = true;
     private String autopilotAbilityReason = "";
+    private String startFailedMessage = "";
+
+    private OchAdasStartFailureCallback failureCallback = null;
 
     private static final class SingletonHolder {
         private static final OCHAdasAbilityManager INSTANCE = new OCHAdasAbilityManager();
@@ -37,6 +44,10 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener {
         initListeners();
     }
 
+    public void setAdasStartFailureCallback(OchAdasStartFailureCallback callback){
+        failureCallback = callback;
+    }
+
     public boolean getAutopilotAbilityStatus(){
         return isAutopilotAbility;
     }
@@ -45,13 +56,19 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener {
         return autopilotAbilityReason;
     }
 
+    public String getStartFailedMessage() {
+        return startFailedMessage;
+    }
+
     private void initListeners() {
         //2022.10.9 工控机状态信息回调（判断是否能否启动自动驾驶的回调）， 目前定的是3秒回调一次
         CallerAutopilotActionsListenerManager.INSTANCE.addListener(TAG, this);
+        CallerAutopilotStatisticsListenerManager.INSTANCE.addListener(TAG,this);
     }
 
     private void releaseListeners() {
         CallerAutopilotActionsListenerManager.INSTANCE.removeListener(this);
+        CallerAutopilotStatisticsListenerManager.INSTANCE.removeListener(this);
     }
 
     @Override
@@ -88,6 +105,18 @@ public class OCHAdasAbilityManager implements IMoGoAutopilotActionsListener {
         Logger.d(TAG, "是否可以启动自动驾驶=" + isAutopilotAbility + " 原因=" + autopilotAbilityReason);
     }
 
+
+    @Override
+    public void onAutopilotStatistics(@Nullable AutopilotStatistics statistics) {
+        if (statistics == null) return;
+        Logger.d(TAG, "AutopilotStatistics=  " + statistics.status);
+        if (failureCallback != null && 1 == statistics.status){
+            startFailedMessage = statistics.failedMessage.getMsg();
+            failureCallback.onStartAutopilotFailure(startFailedMessage);
+            Logger.d(TAG, "statistics-startFailedMessage=  " + startFailedMessage);
+        }
+    }
+
     public void release() {
         releaseListeners();
     }
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt
index d3270cb212..89bdaaddae 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/constant/TaxiPassengerConst.kt
@@ -58,5 +58,9 @@ class TaxiPassengerConst {
         const val EVENT_PARAM_START_RESULT = "start_autopilot" // true/false
         const val EVENT_PARAM_PLATE_NUM = "plate_number" // 车牌号
         const val EVENT_PARAM_ENV_ONLINE = "env_online" // 是否线上环境：true/false
+
+        // 埋点key：开启自动驾驶前已识别的异常，会导致无法开启自驾
+        const val EVENT_KEY_AP_UNABLE_START_REASON = "event_key_och_taxi_ap_unable_start_reason"
+        const val EVENT_PARAM_UNABLE_START_REASON = "unable_start_reason";
     }
 }
\ No newline at end of file
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
index 79e59a7b17..bcbe312e33 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java
@@ -33,6 +33,7 @@ import com.mogo.eagle.core.utilcode.util.ToastUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
 import com.mogo.map.navi.IMogoCarLocationChangedListener2;
 import com.mogo.module.common.MogoApisHandler;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
@@ -925,6 +926,16 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
             startServicePilotDone();
         }
 
+        if (!FunctionBuildConfig.isDemoMode && !OCHAdasAbilityManager.getInstance().getAutopilotAbilityStatus()) {
+            ToastUtils.showLong(OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason() +
+                    ", 请稍候重试");
+
+            TaxiPassengerAnalyticsManager.getInstance().triggerUnableStartAPReasonEvent(
+                    mCurrentOCHOrder.startSiteAddr, mCurrentOCHOrder.endSiteAddr, mCurrentOCHOrder.orderNo,
+                    OCHAdasAbilityManager.getInstance().getAutopilotUnAbilityReason());
+            return;
+        }
+
         double startWgsLon = mCurrentOCHOrder.startSitePoint.get(0);
         double startWgsLat = mCurrentOCHOrder.startSitePoint.get(1);
         double endWgsLon = mCurrentOCHOrder.endSitePoint.get(0);
diff --git a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java
index 8d2aedf521..ba1670d046 100644
--- a/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java
+++ b/OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/utils/TaxiPassengerAnalyticsManager.java
@@ -74,4 +74,31 @@ public class TaxiPassengerAnalyticsManager {
             UiThreadHandler.postDelayed(startAutopilotRunnable, TaxiPassengerConst.LOOP_PERIOD_15S);
         }
     }
+
+    /**
+     * 触发"无法开启自驾已知异常"埋点
+     * @param startName
+     * @param endName
+     * @param orderNo
+     */
+    public void  triggerUnableStartAPReasonEvent(String startName, String endName, String orderNo,
+                                                 String reason) {
+        String sn = MoGoAiCloudClientConfig.getInstance().getSn();
+        String plateNum = AppConfigInfo.INSTANCE.getPlateNumber();
+        String dateTime = DateTimeUtils.getTimeText(
+                System.currentTimeMillis(), DateTimeUtils.yyyy_MM_dd_HH_mm_ss);
+
+        HashMap<String, Object> params = new HashMap<>();
+
+        params.put(TaxiPassengerConst.EVENT_PARAM_SN, sn);
+        params.put(TaxiPassengerConst.EVENT_PARAM_PLATE_NUM, TextUtils.isEmpty(plateNum) ? "" : plateNum);
+        params.put(TaxiPassengerConst.EVENT_PARAM_ENV_ONLINE,
+                DebugConfig.getNetMode() == DebugConfig.NET_MODE_RELEASE ? true : false);
+        params.put(TaxiPassengerConst.EVENT_PARAM_TIME, dateTime);
+        params.put(TaxiPassengerConst.EVENT_PARAM_START_NAME, startName);
+        params.put(TaxiPassengerConst.EVENT_PARAM_END_NAME, endName);
+        params.put(TaxiPassengerConst.EVENT_PARAM_ORDER_NUMBER, orderNo);
+        params.put(TaxiPassengerConst.EVENT_PARAM_UNABLE_START_REASON, reason);
+        AnalyticsManager.INSTANCE.track(TaxiPassengerConst.EVENT_KEY_AP_UNABLE_START_REASON, params);
+    }
 }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
index 7d89fd4718..278829580f 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/callback/ITaxiADASStatusCallback.java
@@ -20,4 +20,7 @@ public interface ITaxiADASStatusCallback {
 
     //人机共驾
     void onManMachineCoDriving();
+
+    //自驾返回失败
+    void onStartAdasFailure();
 }
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
index ae074c74fe..68f2379a42 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/constant/TaxiConst.kt
@@ -65,6 +65,7 @@ class TaxiConst {
         const val EVENT_PARAM_END_NAME = "end_name"
         const val EVENT_PARAM_ORDER_NUMBER = "order_num"
         const val EVENT_PARAM_START_RESULT = "start_autopilot" // true/false
+        const val EVENT_PARAM_START_FAILURE_MSG = "start_autopilot_failure_msg" // 启动自驾失败原因
         const val EVENT_PARAM_PLATE_NUM = "plate_number" // 车牌号
         const val EVENT_PARAM_ENV_ONLINE = "env_online" // 是否线上环境：true/false
         // 埋点key：开启自动驾驶前已识别的异常，会导致无法开启自驾
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
index eff7f1e255..764bff6369 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/model/TaxiModel.java
@@ -38,6 +38,7 @@ import com.mogo.och.common.module.biz.constant.LoginStatusManager;
 import com.mogo.och.common.module.biz.constant.OchCommonConst;
 import com.mogo.och.common.module.biz.network.OchCommonServiceCallback;
 import com.mogo.och.common.module.biz.provider.LoginService;
+import com.mogo.och.common.module.callback.OchAdasStartFailureCallback;
 import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.common.module.map.AmapNaviToDestinationModel;
 import com.mogo.och.common.module.utils.CoordinateCalculateRouteUtil;
@@ -232,6 +233,9 @@ public class TaxiModel {
 
         //2021.11.1 自动驾驶路线规划接口
         CallerAutopilotPlanningListenerManager.INSTANCE.addListener(TAG, moGoAutopilotPlanningListener);
+
+        //开启自驾后 异常信息返回
+        OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(mAdasStartFailureListener);
     }
 
     private void releaseListeners() {
@@ -251,6 +255,7 @@ public class TaxiModel {
 
         CallerAutoPilotStatusListenerManager.INSTANCE.removeListener(mGoAutopilotStatusListener);
         CallerAutopilotPlanningListenerManager.INSTANCE.removeListener(moGoAutopilotPlanningListener);
+        OCHAdasAbilityManager.getInstance().setAdasStartFailureCallback(null);
     }
 
     public void startOrStopOrderLoop(boolean start) {
@@ -1008,6 +1013,17 @@ public class TaxiModel {
         }
     };
 
+    private final OchAdasStartFailureCallback mAdasStartFailureListener = new OchAdasStartFailureCallback() {
+        @Override
+        public void onStartAutopilotFailure(@NonNull String startFailedMessage) {
+            TaxiAnalyticsManager.getInstance().triggerStartAutopilotFailureEvent(startFailedMessage);
+            if (mADASStatusCallback != null){
+                CallerLogger.INSTANCE.e(M_TAXI + TAG, "mAdasStartFailureListener = "+startFailedMessage);
+                mADASStatusCallback.onStartAdasFailure();
+            }
+        }
+    };
+
     private final IMogoStatusChangedListener mMogoStatusChangedListener = new IMogoStatusChangedListener() {
         // VR mode变更回调
         @Override
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
index f28f7bbb59..94dcdc28d2 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/presenter/TaxiPresenter.java
@@ -226,6 +226,11 @@ public class TaxiPresenter extends Presenter<TaxiFragment> implements ITaxiADASS
         preAutopilotStatus = IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING;
     }
 
+    @Override
+    public void onStartAdasFailure() {
+        runOnUIThread(() -> mView.stopAnimAndUpdateBtnStatus());
+    }
+
     @Override
     public void onServiceDataUpdate(long dailyTimeDuration, long dailyOrderNum) {
         runOnUIThread(() -> mView.onServiceDataUpdate(dailyTimeDuration,dailyOrderNum));
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
index 0d204d7ac5..8dc6ad1bab 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/BaseTaxiTabFragment.java
@@ -354,19 +354,15 @@ public abstract class BaseTaxiTabFragment<V extends IView, P extends Presenter<V
             // 3. 其他过程直接更新
             startOrStopLoadingAnim(false);
             autopilotStatusAnimchanged(status);
-            if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING == mPrevAPStatus) {
-                if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE == status) {
-                    // 2->1
-//                    AIAssist.getInstance(getContext()).speakTTSVoice("已进入人工驾驶模式");
-                } else if (IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE == status) {
-                    // 2->0
-//                    AIAssist.getInstance(getContext()).speakTTSVoice("自动驾驶已停止，请人工接管");
-                }
-            }
             mPrevAPStatus = status;
         });
     }
 
+    public void stopAnimAndUpdateBtnStatus(){
+        startOrStopLoadingAnim(false);
+        startAutopilotDone(false);
+    }
+
     public void onManMachineCoDriving(int manMachineCoDriving){
         if (mPrevAPStatus != manMachineCoDriving){
             autopilotStatusAnimchanged(manMachineCoDriving);
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
index 83eecfc45d..e3ec7b298c 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/ui/TaxiBeingServerdOrdersFragment.java
@@ -461,8 +461,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
             if (status == TaxiOrderStatusEnum.None.getCode() || status == TaxiOrderStatusEnum.Cancel.getCode() || status == TaxiOrderStatusEnum.JourneyCompleted.getCode()) {
                 isHaveBeingOrder(false);
                 mCurrentOrder = null;
-                mDistanceAndTime2.setText("距离 - - 公里，用时 - - 分");
-                mDistanceAndTime3.setText("距离 - - 公里，用时 - - 分");
+                clearOrderTag();
             } else {
                 isHaveBeingOrder(true);
             }
@@ -540,6 +539,12 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
         });
     }
 
+    private void clearOrderTag() {
+        saveOrderState = -1;
+        mDistanceAndTime2.setText("距离 - - 公里，用时 - - 分");
+        mDistanceAndTime3.setText("距离 - - 公里，用时 - - 分");
+    }
+
     /**
      * 是否有正在进行的订单，进行UI显示
      *
@@ -620,7 +625,6 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
 
     public void onCurrentOrderCancelDone() {
         //去除起终点
-        saveOrderState = -1;
         if (mCurrentOrder != null){
             setOrRemoveMapMaker(false, TaxiConst.TAXI_START_MAP_MAKER,mCurrentOrder.startSitePoint,R.raw.star_marker);
             setOrRemoveMapMaker(false, TaxiConst.TAXI_END_MAP_MAKER,mCurrentOrder.endSitePoint,R.raw.end_marker);
@@ -631,6 +635,7 @@ public class TaxiBeingServerdOrdersFragment extends BaseTaxiUIFragment
         //更新界面
         isHaveBeingOrder(false);
         showOrHideNavi(false);
+        clearOrderTag();
     }
 
     private void clearSmallMapRouteLine() {
diff --git a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsManager.java b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsManager.java
index c1d843dc6e..e1fbcb954b 100644
--- a/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsManager.java
+++ b/OCH/mogo-och-taxi/src/main/java/com/mogo/och/taxi/utils/TaxiAnalyticsManager.java
@@ -1,16 +1,14 @@
 package com.mogo.och.taxi.utils;
 
-import static com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant.M_TAXI;
-
 import android.text.TextUtils;
 
 import com.mogo.cloud.passport.MoGoAiCloudClientConfig;
 import com.mogo.commons.debug.DebugConfig;
 import com.mogo.eagle.core.data.app.AppConfigInfo;
 import com.mogo.eagle.core.function.call.analytics.AnalyticsManager;
-import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger;
 import com.mogo.eagle.core.utilcode.util.DateTimeUtils;
 import com.mogo.eagle.core.utilcode.util.UiThreadHandler;
+import com.mogo.och.common.module.manager.OCHAdasAbilityManager;
 import com.mogo.och.taxi.constant.TaxiConst;
 
 import java.util.HashMap;
@@ -37,10 +35,16 @@ public class TaxiAnalyticsManager {
 
     private Runnable startAutopilotRunnable = () -> {
         // 15s内未开启，上报失败埋点
-        mStartAutopilotParams.put(TaxiConst.EVENT_PARAM_START_RESULT, false);
-        AnalyticsManager.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams);
+        triggerStartAutopilotFailureEvent("15s后app等待超时");
     };
 
+    public void triggerStartAutopilotFailureEvent(String failMsg){
+        mStartAutopilotParams.put(TaxiConst.EVENT_PARAM_START_RESULT, false);
+        mStartAutopilotParams.put(TaxiConst.EVENT_PARAM_START_FAILURE_MSG,
+                failMsg);
+        AnalyticsManager.INSTANCE.track(mStartAutopilotKey, mStartAutopilotParams);
+    }
+
     /**
      * 触发'开启自动驾驶'埋点流程
      * 开启自动驾驶，15s内成功则发送成功埋点，否则发送失败埋点