Drifting correction between planning stage and controlling stage of operating autonomous driving vehicles

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations of operating an autonomous driving vehicle (ADV), the operations comprising:

• determining a lateral drifting error based on at least a current location of the ADV;
• segmenting the lateral drifting error into a first drifting error and a second drifting error using a predetermined segmentation algorithm, wherein segmenting the lateral drifting error into the first drifting error and the second drifting error comprises calculating the second drifting error based on a predetermined percentage of the lateral drifting error, and calculating the first drifting error in view of the lateral drifting error and the second drifting error;
• planning by a planning module a trajectory for a current driving cycle to drive the ADV from the current location for a predetermined period of time;
• performing by the planning module a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory for the current driving cycle based on the first drifting error, generating a modified trajectory;
• and
• controlling by a control module the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• determining a lateral drifting error based on at least a current location of an autonomous driving vehicle (ADV),
• segmenting the lateral drifting error into a first drifting error and a second drifting error using a predetermined segmentation algorithm, wherein segmenting the lateral drifting error into the first drifting error and the second drifting error comprises calculating the second drifting error based on a predetermined percentage of the lateral drifting error, and calculating the first drifting error in view of the lateral drifting error and the second drifting error,
• planning by a planning module a trajectory for a current driving cycle to drive the ADV from the current location for a predetermined period of time,
• performing by the planning module a first drifting error correction on the trajectory by modifying at least a starting point of the trajectory for the current driving cycle based on the first drifting error, generating a modified trajectory, and
• controlling by a control module the ADV to drive according to the modified trajectory, including performing a second drifting error correction based on the second drifting error.