diff --git a/drivers/usb/core/message.c b/drivers/usb/core/message.c
index 0d3fd2083165..35b7ac967b4d 100644
--- a/drivers/usb/core/message.c
+++ b/drivers/usb/core/message.c
@@ -1209,7 +1209,7 @@ void usb_disable_interface(struct usb_device *dev, struct usb_interface *intf,
  */
 void usb_disable_device(struct usb_device *dev, int skip_ep0)
 {
-	int i;
+	int i, j;
 	struct usb_hcd *hcd = bus_to_hcd(dev->bus);
 
 	/* getting rid of interfaces will disconnect
@@ -1234,6 +1234,27 @@ void usb_disable_device(struct usb_device *dev, int skip_ep0)
 			dev_dbg(&dev->dev, "unregistering interface %s\n",
 				dev_name(&interface->dev));
 			remove_intf_ep_devs(interface);
+
+			/*
+			 * Some special SoCs (e.g. rk322xh) USB 3.0 module
+			 * can't handle outstanding URBs by hardware when
+			 * when USB 3.0 device disconnect, so we need to
+			 * cancel all URBs pending on this device here.
+			 *
+			 * In addition, we just reuse the hub autosuspend
+			 * quirk but not add a new quirk for this issue.
+			 * Because it always occurs with autosuspend issue.
+			 */
+			if (hcd->self.root_hub->quirks &
+			    USB_QUIRK_AUTO_SUSPEND) {
+				for (j = skip_ep0; j < 16; ++j) {
+					usb_hcd_flush_endpoint(dev,
+							       dev->ep_out[j]);
+					usb_hcd_flush_endpoint(dev,
+							       dev->ep_in[j]);
+				}
+			}
+
 			device_del(&interface->dev);
 		}