diff --git a/AIEngineModule/src/AIModel_Impl.cpp b/AIEngineModule/src/AIModel_Impl.cpp
index 7da8b7a..2ccb1e4 100644
--- a/AIEngineModule/src/AIModel_Impl.cpp
+++ b/AIEngineModule/src/AIModel_Impl.cpp
@@ -265,14 +265,15 @@ int AIModel_Impl::AIDet(const cv::Mat &inImg, cv::Mat &outimg)
     {
         outimg.create(m_pNode_output_0->height, m_pNode_output_0->width, outType);
     }
+    // 推理前清零输出：任何一步失败时，保证输出全黑而非未初始化垃圾数据
+    outimg.setTo(0);
     uchar *p_outdata_1 = (uchar *)outimg.data;
     if (!m_bInitSuccess)
     {
         return 2;
     }
 
-    AI_Det_In_1_Out_1(m_pNode_input_0, m_pNode_output_0, p_indata_0, p_outdata_1);
-    return 0;
+    return AI_Det_In_1_Out_1(m_pNode_input_0, m_pNode_output_0, p_indata_0, p_outdata_1);
 }
 
 int AIModel_Impl::AIDet(const cv::Mat &inImg, cv::Mat &outimg0, cv::Mat &outimg1)
@@ -553,38 +554,89 @@ int AIModel_Impl::GetEngineInfo1(std::shared_ptr<GPU_Engine> &pgpuengine)
 
 int AIModel_Impl::AI_Det_In_1_Out_1(Node_Config *pConfig_in, Node_Config *pConfig_out, const unsigned char *p_indata_0, unsigned char *p_outdata_1)
 {
-    // printf("=== s1 ");
     std::shared_ptr<Det_GPU_Stram> pdetStream;
     if (GetStream(pdetStream) != 0 || !pdetStream)
     {
         return -1;
     }
-    //  printf("=== s2 ");
     std::lock_guard<std::mutex> lock(pdetStream->AI_mutex);
-    // printf("  ss g %d s %d --  ", pdetStream->nGPUIdx, pdetStream->cuda_stream->nstreamIdx);
-    // // 设置 显卡ID
+    // 设置 显卡ID
     if (!EnsureCudaDevice(pdetStream->nGPUIdx))
     {
         return -1;
     }
 
-    cudaMemcpyAsync(pdetStream->cuda_stream->pstreamNode_input_0->gpu_ImgData,
-                    p_indata_0, pConfig_in->ucharsize, cudaMemcpyHostToDevice, pdetStream->cuda_stream->stream);
-    // // //  在显存中 图片数据从 uchar 转到 float
-    Cuda_ucharToFloat_stream((unsigned char *)pdetStream->cuda_stream->pstreamNode_input_0->gpu_ImgData,
-                             (float *)pdetStream->cuda_stream->pstreamNode_input_0->gpu_buffers, pConfig_in->datalength, pdetStream->cuda_stream->stream);
+    cudaStream_t stream = pdetStream->cuda_stream->stream;
+    void *gpu_in_ImgData = pdetStream->cuda_stream->pstreamNode_input_0->gpu_ImgData;
+    void *gpu_in_buffers = pdetStream->cuda_stream->pstreamNode_input_0->gpu_buffers;
+    void *gpu_out_buffers = pdetStream->cuda_stream->pstreamNode_output_0->gpu_buffers;
+    void *gpu_out_ImgData = pdetStream->cuda_stream->pstreamNode_output_0->gpu_ImgData;
 
-    pdetStream->cuda_stream->context->setTensorAddress(pConfig_in->name.c_str(), pdetStream->cuda_stream->pstreamNode_input_0->gpu_buffers);
-    pdetStream->cuda_stream->context->setTensorAddress(pConfig_out->name.c_str(), pdetStream->cuda_stream->pstreamNode_output_0->gpu_buffers);
+    cudaError_t cerr;
 
-    pdetStream->cuda_stream->context->enqueueV3(pdetStream->cuda_stream->stream);
+    // 推理前先把输出显存清零：任何一步失败时，保证输出全黑而非未初始化垃圾数据
+    cerr = cudaMemsetAsync(gpu_out_ImgData, 0, pConfig_out->ucharsize, stream);
+    if (cerr != cudaSuccess)
+    {
+        std::fprintf(stderr, "[AIEngine] cudaMemsetAsync(out) failed: %s\n", cudaGetErrorString(cerr));
+        return -1;
+    }
 
-    Cuda_FloatTouchar_stream((float *)pdetStream->cuda_stream->pstreamNode_output_0->gpu_buffers,
-                             (unsigned char *)pdetStream->cuda_stream->pstreamNode_output_0->gpu_ImgData, pConfig_out->datalength, pdetStream->cuda_stream->stream);
-    cudaMemcpyAsync(p_outdata_1, pdetStream->cuda_stream->pstreamNode_output_0->gpu_ImgData,
-                    pConfig_out->ucharsize, cudaMemcpyDeviceToHost, pdetStream->cuda_stream->stream);
-    cudaStreamSynchronize(pdetStream->cuda_stream->stream);
-    // printf("**ee g %d s %d **  \n", pdetStream->nGPUIdx, pdetStream->cuda_stream->nstreamIdx);
+    // 输入数据拷贝到显存
+    cerr = cudaMemcpyAsync(gpu_in_ImgData, p_indata_0, pConfig_in->ucharsize, cudaMemcpyHostToDevice, stream);
+    if (cerr != cudaSuccess)
+    {
+        std::fprintf(stderr, "[AIEngine] cudaMemcpyAsync(in) failed: %s\n", cudaGetErrorString(cerr));
+        return -1;
+    }
+
+    // 在显存中 图片数据从 uchar 转到 float
+    Cuda_ucharToFloat_stream((unsigned char *)gpu_in_ImgData,
+                             (float *)gpu_in_buffers, pConfig_in->datalength, stream);
+
+    if (!pdetStream->cuda_stream->context->setTensorAddress(pConfig_in->name.c_str(), gpu_in_buffers))
+    {
+        std::fprintf(stderr, "[AIEngine] setTensorAddress(in) failed\n");
+        return -1;
+    }
+    if (!pdetStream->cuda_stream->context->setTensorAddress(pConfig_out->name.c_str(), gpu_out_buffers))
+    {
+        std::fprintf(stderr, "[AIEngine] setTensorAddress(out) failed\n");
+        return -1;
+    }
+
+    if (!pdetStream->cuda_stream->context->enqueueV3(stream))
+    {
+        std::fprintf(stderr, "[AIEngine] enqueueV3 failed\n");
+        return -1;
+    }
+
+    // float 转到 uchar
+    Cuda_FloatTouchar_stream((float *)gpu_out_buffers,
+                             (unsigned char *)gpu_out_ImgData, pConfig_out->datalength, stream);
+
+    cerr = cudaMemcpyAsync(p_outdata_1, gpu_out_ImgData,
+                           pConfig_out->ucharsize, cudaMemcpyDeviceToHost, stream);
+    if (cerr != cudaSuccess)
+    {
+        std::fprintf(stderr, "[AIEngine] cudaMemcpyAsync(out) failed: %s\n", cudaGetErrorString(cerr));
+        return -1;
+    }
+
+    cerr = cudaStreamSynchronize(stream);
+    if (cerr != cudaSuccess)
+    {
+        std::fprintf(stderr, "[AIEngine] cudaStreamSynchronize failed: %s\n", cudaGetErrorString(cerr));
+        return -1;
+    }
+
+    // kernel 启动失败等异步错误必须通过 cudaGetLastError 捕获
+    cerr = cudaGetLastError();
+    if (cerr != cudaSuccess)
+    {
+        std::fprintf(stderr, "[AIEngine] async cuda error: %s\n", cudaGetErrorString(cerr));
+        return -1;
+    }
     return 0;
 }