US 12,459,469 B2
Skid avoidance during emergency braking with control algorithm override for autonomous or assisted driving vehicles
Baoping Yuan, Sunnyvale, CA (US); and Yaoming Shen, Sunnyvale, CA (US)
Assigned to APOLLO AUTONOMOUS DRIVING USA LLC, Sunnyvale, CA (US)
Filed by Apollo Autonomous Driving USA LLC, Sunnyvale, CA (US)
Filed on Jul. 7, 2023, as Appl. No. 18/349,100.
Prior Publication US 2025/0010822 A1, Jan. 9, 2025
Int. Cl. B60T 7/22 (2006.01); B60T 8/176 (2006.01)
CPC B60T 7/22 (2013.01) [B60T 8/176 (2013.01); B60T 2201/00 (2013.01); B60T 2220/04 (2013.01); B60T 2250/04 (2013.01); B60T 2270/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for deceleration by a controlling device of an autonomous driving vehicle (ADV), the method comprising:
engaging a braking system of the ADV to decelerate the ADV using a first deceleration algorithm that activates an emergency braking procedure in response to detecting a potential impact;
detecting an onset of discrepancy between a velocity of the ADV and a corresponding wheel speed of the ADV; and
overriding, by a processing device based on the discrepancy, an output of the first deceleration algorithm using a second deceleration algorithm prioritizing in reducing the discrepancy between the velocity of the ADV and the corresponding wheel speed of the ADV over a target rate of deceleration computed by the first deceleration algorithm.