Patent ID: 11807274

Abstract:
A planned trajectory is analyzed by an L4 emergency braking module, before the trajectory is navigated by the autonomous driving vehicle (ADV). An L4 emergency braking signal is generated in response to an autonomous driving vehicle (ADV) determining that any portion of a planned trajectory of the ADV has a deceleration that is less than −2 m/sec2 and a time to collision with the ADV, by a vehicle following the ADV at a speed Z and a distance Y<100 m, during a period of 1 to 8 seconds after time 0 of the planned trajectory, if for any time Xϵ{1 second . . . 8 seconds} after time 0, wherein TX is the location of the ADV in the trajectory at time X. Optionally, a sharp braking command can be issued by the L4 emergency braking module in response to activating the emergency braking signal.