SYSTEMS AND METHODS FOR DRIVE-OFF FROM A STOPPED POSITION FOR AN AUTONOMOUS DRIVING VEHICLE

Smooth and agile acceleration of an autonomous driving vehicle (ADV) that is being held at a standstill or is otherwise at a stop is important for ADV safety, efficiency, and occupant enjoyment. For example, as a practical matter, an ADV at an uncontrolled intersection should quickly and smoothly drive-off when it is its turn to advance—otherwise, it may get stuck at the intersection. Embodiments herein provide systems and methods to facilitate a pleasant and comfortable ride while having the ADV drive off smoothly (e.g., not a large jerk) and safely (e.g., not slipping) during driving from a stop—regardless of whether the ADV is on a slope or on a neutral (i.e., not sloped) surface. In one or more embodiments, the drive-off process may be divided into several stages from a standstill to an acceleration settle stage.