diff --git a/.vscode/settings.json b/.vscode/settings.json
index 78e0c1dd..c9a14482 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,5 +1,5 @@
 {
-    "cmake.sourceDirectory": "C:/Users/MSI/Documents/WorkSpace/git/ADM/GW",
+    "cmake.sourceDirectory": "C:/Users/blueb/Documents/WorkSpace/git/ADM/GW",
     "files.associations": {
         "algorithm": "cpp",
         "any": "cpp",
diff --git a/GW/src/Global_Variable.c b/GW/src/Global_Variable.c
index eff536b3..a097e3fe 100644
--- a/GW/src/Global_Variable.c
+++ b/GW/src/Global_Variable.c
@@ -970,4 +970,10 @@ uint8_t		GV_VCU_EstMassFlag	= 0;
 uint8_t		GV_VCU_AccControlFlag = 0;
 
 // VCU Emergency Stop
-uint8_t     GV_VCU_Emergency_Flag = 0;
\ No newline at end of file
+uint8_t     GV_VCU_Emergency_Flag = 0;
+bool isEmergencyVcu;
+bool isEmergencyRc;
+bool isEmergencyAcu;
+bool isEmergencySwitch;
+bool isEmergency;
+bool isCharging;
\ No newline at end of file
diff --git a/GW/src/Global_Variable.h b/GW/src/Global_Variable.h
index fb930f70..8ef4c088 100644
--- a/GW/src/Global_Variable.h
+++ b/GW/src/Global_Variable.h
@@ -11,6 +11,7 @@
 #include "stdint.h"
 #include "main.h"
 #include "define.h"
+#include "stdbool.h"
 /*----------------------------------------Variables----------------------------------------*/
 /* Variable Name : IG_Process_Status
  * Data Type : uint8
@@ -981,6 +982,12 @@ extern uint8_t	GV_VCU_AccControlFlag;
 
 // VCU Emergency Stop
 extern uint8_t  GV_VCU_Emergency_Flag;
+extern bool isEmergencyVcu;
+extern bool isEmergencyRc;
+extern bool isEmergencyAcu;
+extern bool isEmergencySwitch;
+extern bool isEmergency;
+extern bool isCharging;
 
 #endif /* GLOBAL_VARIABLE_H_ */
 
diff --git a/GW/src/KATECK_Logic.c b/GW/src/KATECK_Logic.c
index 1e51a703..5c0a2e1c 100644
--- a/GW/src/KATECK_Logic.c
+++ b/GW/src/KATECK_Logic.c
@@ -41,7 +41,7 @@ void ECU3_KATECH_Logic_10ms(void)
 	RCU_Arc_check();
 	RWA1_Arc_check();
 	RWA2_Arc_check();
-	ECU_check();
+	System_check();
 }
 
 void ECU3_KATECH_Logic_20ms(void)
diff --git a/GW/src/Operation_Layer/MCU/Motor_Status.c b/GW/src/Operation_Layer/MCU/Motor_Status.c
index c525d3fb..cc30b0eb 100644
--- a/GW/src/Operation_Layer/MCU/Motor_Status.c
+++ b/GW/src/Operation_Layer/MCU/Motor_Status.c
@@ -26,6 +26,7 @@ void Motor_Status(void)
 		GV_VCU_MtrDir	= 0;
 
 		GV_VCU_EPAM_Park_Request_to_EPC = 1;	// 1 = Lock
+		GV_ParkBrakeRequest = 2;				// 2 = EPB Apply
 	}
 	else if(GV_VCU_GearSelStat == 1)					// R
 	{
@@ -33,6 +34,7 @@ void Motor_Status(void)
 		GV_VCU_MtrDir	= 2;
 
 		GV_VCU_EPAM_Park_Request_to_EPC = 2;	// 2 = Release
+		GV_ParkBrakeRequest = 1;				// 1 = EPB Release
 	}
 	else if(GV_VCU_GearSelStat == 2 && GV_VCU_Vx_Fbk == 0) 					// N
 	{
@@ -40,6 +42,7 @@ void Motor_Status(void)
 		GV_VCU_MtrDir	= 0;
 
 		GV_VCU_EPAM_Park_Request_to_EPC = 2;
+		GV_ParkBrakeRequest = 1;				// 1 = EPB Release
 	}
 	else if(GV_VCU_GearSelStat == 3 && GV_VCU_Vx_Fbk == 0) 					// D
 	{
@@ -47,5 +50,6 @@ void Motor_Status(void)
 		GV_VCU_MtrDir	= 1;
 
 		GV_VCU_EPAM_Park_Request_to_EPC = 2;
+		GV_ParkBrakeRequest = 1;				// 1 = EPB Release
 	}
 }
diff --git a/GW/src/Safety_Layer/System_Check/System_Check.c b/GW/src/Safety_Layer/System_Check/System_Check.c
index b3508d52..91693863 100644
--- a/GW/src/Safety_Layer/System_Check/System_Check.c
+++ b/GW/src/Safety_Layer/System_Check/System_Check.c
@@ -163,7 +163,7 @@ void RWA2_Arc_check(void)	// Ch3 0x072 5ms
 	GV_prev_RWA2_ECU_Arc = GV_RWA2_Arc;
 }
 
-void ECU_check(void)
+void System_check(void)
 {
 	if(GV_RC_VCU_ACU_Fault_Flag == 1 && GV_Act_Fault_Exist)	GV_VCU_RC_ACU_Fault_Flag = 1;
 	else													GV_VCU_RC_ACU_Fault_Flag = 0;
@@ -178,6 +178,18 @@ void ECU_check(void)
 		GV_ACU_ECU_Fault_Flag_Master = 1;
 	else
 		GV_ACU_ECU_Fault_Flag_Master = 0;
+
+	isEmergencyVcu = (GV_VCU_Emergency_Flag == 1
+					|| GV_ACU_ECU_Fault_Flag == 1 || GV_ACU_ECU_Fault_Flag1 == 1 || GV_ACU_ECU_Fault_Flag2 == 1 || GV_ACU_ECU_Fault_Flag3 == 1
+					|| GV_VCU_RC_IDB_ECU_Fault_Flag == 1 || GV_VCU_RC_RCU_ECU_Fault_Flag == 1
+					|| GV_VCU_RC_RWA1_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA2_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA_Actuator_Fault_Flag == 1
+					|| GV_VCU_RC_MCU_Actuator_Fault_Flag == 1);
+	isEmergencyRc = (GV_RC_Emergency_Stop == 1);
+	isEmergencyAcu = (GV_ACU_Emergency_Stop == 1);
+	isEmergencySwitch = (Emergency_Switch == 1);
+
+	isEmergency = (isEmergencyVcu || isEmergencyRc || isEmergencySwitch || isEmergencyAcu || GV_RC_ALV_FLAG == 1 || GV_Act_Fault_Exist == 1);
+	isCharging  = (GV_ChargingStatus == 1 || GV_ChargingStatus == 2 || GV_ChargingStatus == 3);	 // 0(READY), 1(INITALIZE), 2(CHARGING), 3(EXIT)
 }
 
 
diff --git a/GW/src/Safety_Layer/System_Check/System_Check.h b/GW/src/Safety_Layer/System_Check/System_Check.h
index 36a6825c..c18f2127 100644
--- a/GW/src/Safety_Layer/System_Check/System_Check.h
+++ b/GW/src/Safety_Layer/System_Check/System_Check.h
@@ -13,7 +13,7 @@ extern void IDB_Arc_check(void);
 extern void RCU_Arc_check(void);
 extern void RWA1_Arc_check(void);
 extern void RWA2_Arc_check(void);
-extern void ECU_check(void);
+extern void System_check(void);
 
 extern void No_signal_RC(void);
 
diff --git a/GW/src/System_Layer/Drive_Mode.c b/GW/src/System_Layer/Drive_Mode.c
index e9d40679..7d753f3d 100644
--- a/GW/src/System_Layer/Drive_Mode.c
+++ b/GW/src/System_Layer/Drive_Mode.c
@@ -115,22 +115,14 @@ void ExecuteDriveMode()
 
 void CheckDriveMode(void)
 {
-	RcRequestCheck();
-
-	bool isEmergencyVcu = (GV_VCU_Emergency_Flag == 1 || GV_ACU_ECU_Fault_Flag == 1 || GV_ACU_ECU_Fault_Flag1 == 1 || GV_ACU_ECU_Fault_Flag2 == 1 || GV_ACU_ECU_Fault_Flag3 == 1 || GV_VCU_RC_IDB_ECU_Fault_Flag == 1 || GV_VCU_RC_RCU_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA1_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA2_ECU_Fault_Flag == 1 || GV_VCU_RC_RWA_Actuator_Fault_Flag == 1 || GV_VCU_RC_MCU_Actuator_Fault_Flag == 1 || GV_VCU_RC_ACU_Fault_Flag == 1);
-	bool isEmergencyRc = (GV_RC_Emergency_Stop == 1);
-	bool isEmergencyAcu = (GV_ACU_Emergency_Stop == 1);
-	bool isEmergencySwitch = (Emergency_Switch == 1);
-
-	bool isEmergency = (isEmergencyVcu || isEmergencyRc || isEmergencySwitch || isEmergencyAcu || GV_RC_ALV_FLAG == 1 || GV_Act_Fault_Exist == 1);
-	bool isCharging  = (GV_ChargingStatus == 1 || GV_ChargingStatus == 2 || GV_ChargingStatus == 3);	 // 0(READY), 1(INITALIZE), 2(CHARGING), 3(EXIT)
-	
 	bool acuWaitOn = false;
 
 	const DriveMode_e curMode = GV_VCU_Drive_Mode;
 	DriveMode_e nextMode = curMode;
 	HandoverPhase_e nextPhase = HO_NONE;
 
+	RcRequestCheck();
+
 	if(isEmergency)
 	{
 		nextMode = DRIVE_MODE_EMERGENCY;
@@ -277,6 +269,7 @@ void CheckDriveMode(void)
 				break;
         }
 	}
+
 	GV_VCU_Drive_Mode = (uint8_t)nextMode;
 	GV_VCU_HandoverPhase = nextPhase;
 
@@ -296,7 +289,7 @@ void RcRequestCheck(void)
 	{
 		if (s_lastRcModeReq == RC_REQ_AUTO)	GV_RC_ModeReq = RC_REQ_AUTO;
 		else 								GV_RC_ModeReq = RC_REQ_MANUAL;
-		
+
 		GV_VCU_Emergency_Flag = 1;
 	}
 	else if (GV_RC_ACU_Drive_Mode == 1U)
@@ -375,10 +368,22 @@ void ExecuteRCMode()
 
 
 /*============================== Emergency Mode ==============================*/
+bool Flag_EmergencyAutoParking = true;
 void ExecuteEmergencyMode()
 {
-	GV_VCU_EPAM_Park_Request_to_EPC = 2;	// EPam release
-	GV_VCU_GearSelStat = 2;					// gear N
+	if(GV_VCU_Vx_Fbk >= 0.1 && Flag_EmergencyAutoParking)
+		GV_VCU_GearSelStat = 2;		// gear N
+	else if(GV_VCU_GearSelStat == 2 && GV_VCU_Vx_Fbk < 0.1 && Flag_EmergencyAutoParking)
+	{
+		GV_VCU_GearSelStat = 0;		// gear P
+		Flag_EmergencyAutoParking = false;
+	}
+	else if(GV_VCU_GearSelStat == 2 && GV_VCU_Vx_Fbk < 0.1 && !Flag_EmergencyAutoParking)
+		GV_VCU_GearSelStat = 2;		// gear N
+	else if(GV_VCU_GearSelStat == 0 && GV_VCU_Vx_Fbk < 0.1 && !Flag_EmergencyAutoParking)
+		GV_VCU_GearSelStat = 0;		// gear P
+	else
+		// Do nothing, maintain current gear
 
 	GV_VCU_RC_Emergency_Stop = 1;
 	GV_VCU_ACU_Emergency_Stop = 1;
@@ -397,6 +402,8 @@ void ExecuteEmergencyMode()
 		GV_VCU_RC_Emergency_Stop 	= 0;
 		GV_VCU_ACU_Emergency_Stop	= 0;
 
+		Flag_EmergencyAutoParking = true;
+
 		GV_VCU_Drive_Mode = DRIVE_MODE_DEFAULT;
 	}
 }
diff --git a/GW/src/System_Layer/SW_Version/SW_VER.c b/GW/src/System_Layer/SW_Version/SW_VER.c
index 9b816334..d7420d6a 100644
--- a/GW/src/System_Layer/SW_Version/SW_VER.c
+++ b/GW/src/System_Layer/SW_Version/SW_VER.c
@@ -7,7 +7,7 @@ void SET_SW_VER(void)
 {
 	GV_YEAR 	  = 26;
 	GV_Month      = 3;
-	GV_Day        = 3;
-	GV_Ver  	  = 2;
+	GV_Day        = 8;
+	GV_Ver  	  = 1;
 	GV_CAR_NUM    = 240623;
 }
diff --git a/[ADM] Integrated Logic/ADM_Integrated_Logic.slx b/[ADM] Integrated Logic/ADM_Integrated_Logic.slx
index f8158f06..090f3ad7 100644
Binary files a/[ADM] Integrated Logic/ADM_Integrated_Logic.slx and b/[ADM] Integrated Logic/ADM_Integrated_Logic.slx differ
diff --git a/[ADM] Integrated Logic/ADM_Integrated_Logic.slx.r2024b b/[ADM] Integrated Logic/ADM_Integrated_Logic.slx.r2024b
new file mode 100644
index 00000000..f8158f06
Binary files /dev/null and b/[ADM] Integrated Logic/ADM_Integrated_Logic.slx.r2024b differ