According to one embodiment, when the ADV switches from manual operation mode to automatic operation mode, a first speed reference is determined based on the current position of the ADV and the target speed of the current command cycle. The The current position of the ADV is dynamically measured in response to a speed control command issued in the previous command cycle. A second speed reference is determined based on the current target position for the current command cycle. Thereafter, based on the first speed reference, the second speed reference, and the target speed for the current command cycle, a speed control command used for ADV speed control is generated, and ADV changes from the manual operation mode to the automatic operation mode. Drive at an acceleration rate or deceleration rate close to before and after switching. [Selection] Figure 8
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