diff --git a/src/common/config.py b/src/common/config.py
index e092161..b3b68eb 100644
--- a/src/common/config.py
+++ b/src/common/config.py
@@ -22,7 +22,7 @@
 
 # テレメトリメッセージのプロトコルバージョン
 # Pi/PC 間でこの値が一致しないと正しくパースできない
-TELEMETRY_VERSION: int = 1
+TELEMETRY_VERSION: int = 2
 
 # ── ネットワーク設定（.env から読み込み） ──────────────────────
 
diff --git a/src/pc/gui/main_window.py b/src/pc/gui/main_window.py
index 6bd526e..69f69d5 100644
--- a/src/pc/gui/main_window.py
+++ b/src/pc/gui/main_window.py
@@ -442,6 +442,14 @@
         else:
             self._intersection_panel.clear_result()
 
+        # 十字路有効時は分類器準備完了まで自動操縦を無効化
+        if not self._is_auto:
+            can_auto = (
+                not self._intersection_panel.enabled
+                or state.intersection_available
+            )
+            self._auto_btn.setEnabled(can_auto)
+
     # ── 手動操作 ──────────────────────────────────────────
 
     def keyPressEvent(self, event: QKeyEvent) -> None:
diff --git a/src/pc/gui/panels/image_param_panel.py b/src/pc/gui/panels/image_param_panel.py
index 877a6ad..17f2e19 100644
--- a/src/pc/gui/panels/image_param_panel.py
+++ b/src/pc/gui/panels/image_param_panel.py
@@ -376,6 +376,10 @@
         # 初期表示
         self._on_method_changed()
 
+    def _on_expanded(self) -> None:
+        """展開後にパラメータの表示/非表示を再適用する"""
+        self._on_method_changed()
+
     def _add_row(
         self,
         label: str,
diff --git a/src/pc/gui/telemetry_display.py b/src/pc/gui/telemetry_display.py
index e3a138b..bc1c343 100644
--- a/src/pc/gui/telemetry_display.py
+++ b/src/pc/gui/telemetry_display.py
@@ -30,6 +30,7 @@
     heading: float = 0.0
     is_intersection: bool = False
     is_recovering: bool = False
+    intersection_available: bool = False
     fps: float = 0.0
     throttle: float = 0.0
     steer: float = 0.0
@@ -96,6 +97,9 @@
         self.state.is_recovering = telemetry.get(
             "is_recovering", False,
         )
+        self.state.intersection_available = telemetry.get(
+            "intersection_available", False,
+        )
         self.state.fps = telemetry.get("fps", 0.0)
         self.state.throttle = telemetry.get(
             "throttle", 0.0,
diff --git a/src/pi/comm/zmq_client.py b/src/pi/comm/zmq_client.py
index 34c46d5..8a150b2 100644
--- a/src/pi/comm/zmq_client.py
+++ b/src/pi/comm/zmq_client.py
@@ -61,6 +61,7 @@
         heading: float,
         is_intersection: bool,
         is_recovering: bool,
+        intersection_available: bool,
         fps: float,
         binary_image: np.ndarray | None = None,
     ) -> None:
@@ -81,6 +82,7 @@
             heading: 線の傾き
             is_intersection: 十字路と判定されたか
             is_recovering: 復帰動作中か
+            intersection_available: 十字路分類器が利用可能か
             fps: Pi 側の処理 FPS
             binary_image: 二値画像（None で省略）
         """
@@ -97,6 +99,9 @@
             "heading": heading,
             "is_intersection": is_intersection,
             "is_recovering": is_recovering,
+            "intersection_available": (
+                intersection_available
+            ),
             "fps": fps,
         }
 
diff --git a/src/pi/main.py b/src/pi/main.py
index 75e82a4..266ab94 100644
--- a/src/pi/main.py
+++ b/src/pi/main.py
@@ -212,6 +212,9 @@
                 heading=heading,
                 is_intersection=is_intersection,
                 is_recovering=is_recovering,
+                intersection_available=(
+                    intersection_clf.available
+                ),
                 fps=current_fps,
                 binary_image=binary_image,
             )