To control, in order to operate an autonomous driving vehicle (ADV), so that respective modules, such as a high definition map, positioning, perception, prediction, planning, and controlling, efficiently exchange information, thereby there is no lack of collaboration between modules.SOLUTION: A perception module generates perception information on the basis of sensor data. The perception information describes a perceived driving environment. On the basis of the perception information, a planning module plans a trajectory representing a route or a path for a current planning cycle. The ADV is then controlled and driven on the basis of the trajectory. In addition, the planning module determines a critical region around the ADV on the basis of the trajectory according to a current positioning or a position of the ADV. Metadata describing the critical region is transmitted to the perception module via an application programming interface (API) so as to allow the perception module to generate perception information used for a next planning cycle according to the critical region.SELECTED DRAWING: Figure 7
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