diff --git a/services/core/java/com/android/server/wm/ActivityRecord.java b/services/core/java/com/android/server/wm/ActivityRecord.java
index 5dd8f74e05708..4c392f0906aa6 100644
--- a/services/core/java/com/android/server/wm/ActivityRecord.java
+++ b/services/core/java/com/android/server/wm/ActivityRecord.java
@@ -5154,6 +5154,8 @@ final class ActivityRecord extends WindowToken implements WindowManagerService.A
         // Task#ensureActivitiesVisible will bring the activity to a proper
         // active state.
         if (!isState(STARTED, RESUMED, PAUSED, STOPPED, STOPPING)
+                // TODO (b/185876784) Check could we remove the check condition
+                //  mTranslucentActivityWaiting != null here
                 || getRootTask().mTranslucentActivityWaiting != null) {
             return false;
         }
@@ -7802,7 +7804,11 @@ final class ActivityRecord extends WindowToken implements WindowManagerService.A
             configChangeFlags = 0;
             return;
         }
-
+        // Do not waiting for translucent activity if it is going to relaunch.
+        final Task rootTask = getRootTask();
+        if (rootTask != null && rootTask.mTranslucentActivityWaiting == this) {
+            rootTask.checkTranslucentActivityWaiting(null);
+        }
         final boolean andResume = shouldBeResumed(null /*activeActivity*/);
         List<ResultInfo> pendingResults = null;
         List<ReferrerIntent> pendingNewIntents = null;
diff --git a/services/tests/wmtests/src/com/android/server/wm/ActivityRecordTests.java b/services/tests/wmtests/src/com/android/server/wm/ActivityRecordTests.java
index 8cede6df491df..bd143f8a5c35a 100644
--- a/services/tests/wmtests/src/com/android/server/wm/ActivityRecordTests.java
+++ b/services/tests/wmtests/src/com/android/server/wm/ActivityRecordTests.java
@@ -386,6 +386,27 @@ public class ActivityRecordTests extends WindowTestsBase {
                 activity.mRelaunchReason);
     }
 
+    @Test
+    public void testRelaunchClearTopWaitingTranslucent() {
+        final ActivityRecord activity = createActivityWithTask();
+        final Task task = activity.getTask();
+        activity.setState(Task.ActivityState.RESUMED, "Testing");
+
+        task.onRequestedOverrideConfigurationChanged(task.getConfiguration());
+        activity.setLastReportedConfiguration(new MergedConfiguration(new Configuration(),
+                activity.getConfiguration()));
+
+        activity.info.configChanges &= ~CONFIG_ORIENTATION;
+        final Configuration newConfig = new Configuration(task.getConfiguration());
+        newConfig.orientation = newConfig.orientation == ORIENTATION_PORTRAIT
+                ? ORIENTATION_LANDSCAPE
+                : ORIENTATION_PORTRAIT;
+        task.onRequestedOverrideConfigurationChanged(newConfig);
+        task.mTranslucentActivityWaiting = activity;
+        ensureActivityConfiguration(activity);
+        assertNull(task.mTranslucentActivityWaiting);
+    }
+
     @Test
     public void testSetsRelaunchReason_NonResizeConfigChanges() {
         final ActivityRecord activity = createActivityWithTask();