diff --git a/src/control/remote_ctrl/src/remote_ctrl_node.cpp b/src/control/remote_ctrl/src/remote_ctrl_node.cpp
index 35a1df3..491a612 100644
--- a/src/control/remote_ctrl/src/remote_ctrl_node.cpp
+++ b/src/control/remote_ctrl/src/remote_ctrl_node.cpp
@@ -131,7 +131,13 @@ class RemoteCtrlNode : public rclcpp::Node
                                                 auto now = std::chrono::steady_clock::now();
 
                                                 // 超时阈值：建议 800ms ~ 1500ms
-                                                if (now - last_msg_time_ > 800ms)
+                                                std::chrono::steady_clock::time_point last;
+                                                {
+                                                    std::lock_guard<std::mutex> lock(last_msg_time_mtx_);
+                                                    last = last_msg_time_;
+                                                }
+
+                                                if (now - last > 800ms)
                                                 {
                                                     // 只在第一次进入“失活”时打印日志
                                                     if (remote_alive_.exchange(false))
@@ -286,7 +292,10 @@ class RemoteCtrlNode : public rclcpp::Node
                 LOG_INFO("[REMOTE] ✓ control recovered");
             }
 
-            last_msg_time_ = std::chrono::steady_clock::now();
+            {
+                std::lock_guard<std::mutex> lock(last_msg_time_mtx_);
+                last_msg_time_ = std::chrono::steady_clock::now();
+            }
 
             LOG_DEBUG("[REMOTE] Processing command: %s", cmd.c_str());
 
@@ -399,6 +408,7 @@ class RemoteCtrlNode : public rclcpp::Node
     std::atomic<bool> remote_authorized_{false};  // 是否允许远控（锁存）
     std::atomic<bool> remote_alive_{false};       // 是否活跃（心跳）
     std::chrono::steady_clock::time_point last_msg_time_;
+    std::mutex last_msg_time_mtx_;                 // 保护 last_msg_time_
 
     float current_feedback_angle_{0.0f};