公开(公告)号：US12209628B2

公开(公告)日：2025-01-28

申请号：US18147567

申请日：2022-12-28

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Baoping Yuan ,  Yaoming Shen

IPC: B60Q1/00 ,  F16D66/02

Abstract: Sound signals are received by a plurality of microphones disposed on a top of an ADV. An analysis of the sound signals is performed based on a spectrum and a vibration intensity of the sound signals. A wheel which the sound signals come from and a thickness of a brake pad of the wheel is determine based on the analysis of the sound signals. A brake pad wear degree of the brake pad and how long the ADV can run with the brake pad within a safety range is determined. A warning message indicating warning information based on the brake pad wear degree is transmitted.

公开(公告)号：US20250010822A1

公开(公告)日：2025-01-09

申请号：US18349100

申请日：2023-07-07

Applicant: Apollo Autonomous Driving USA LLC

Inventor： Baoping Yuan ,  Yaoming Shen

IPC: B60T7/22

Abstract: This disclosure provides systems and methods for deceleration control during emergency braking using control algorithm override. An embodiment of the present disclosure provides a computer-implemented method for deceleration by a controlling device of an autonomous driving vehicle (ADV). The method includes engaging a braking system of the ADV to decelerate the ADV using a first deceleration algorithm. When an onset of discrepancy between a velocity of the ADV and a corresponding wheel speed of the ADV is detected, a processing device, based on the discrepancy, overrides an output of the first deceleration algorithm using a second deceleration algorithm that prioritizes 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.