System to handle communication delays between an autonomous driving system and vehicle

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• receiving a command, by an electronic controlled unit (ECU) of an autonomous driving vehicle (ADV), the command sent by an autonomous driving system (ADS) of the ADV, wherein the ECU includes an embedded system in automotive electronics that controls one or more electrical systems or subsystems of the ADV;
• determining a communication state between the ECU and the ADS based on a state machine corresponding to a timing of the received command;
• if the communication state is of a first state, operating the ADV based on the received command;
• if the communication state is of a second state, releasing a throttle of the ADV;
• if the communication state is of a third state, releasing a throttle of the ADV and issuing braking based on a first threshold of acceleration;
• and
• if the communication state is of a fourth state, releasing a throttle of the ADV and issuing braking based on a second threshold of acceleration, wherein a communication state is of:
• the first state if the ECU receives the command within a first delay threshold;
• the second state if the ECU receives the command between the first delay threshold and a second delay threshold;
• the third state if the ECU receives the command between the second delay threshold and a third delay threshold;
• and
• the fourth state if the ECU receives the command beyond the third delay threshold, wherein the first, second, and third delay thresholds are three, six, and nine communication cycles, respectively.

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
• receiving a command, by an electronic controlled unit (ECU) of an autonomous driving vehicle (ADV), the command sent by an autonomous driving system (ADS) of the ADV, wherein the ECU includes an embedded system in automotive electronics that controls one or more electrical systems or subsystems of the ADV;
• determining a communication state between the ECU and the ADS based on a state machine corresponding to a timing of the received command;
• if the communication state is of a first state, operating the ADV based on the received command;
• if the communication state is of a second state, releasing a throttle of the ADV;
• if the communication state is of a third state, releasing a throttle of the ADV and issuing braking based on a first threshold of acceleration;
• and
• if the communication state is of a fourth state, releasing a throttle of the ADV and issuing braking based on a second threshold of acceleration, wherein a communication status is of:
• the first state if the ECU receives the command within a first delay threshold;
• the second state if the ECU receives the command between the first delay threshold and a second delay threshold;
• the third state if the ECU receives the command between the second delay threshold and a third delay threshold;
• and
• the fourth state if the ECU receives the command beyond the third delay threshold, wherein the first, second, and third delay thresholds are three, six, and nine communication cycles, respectively.