sending an assistance request to a cloud server in response to detecting that a current road section in front of the ADV is unable to be passed;

obtaining a reference detour route returned from the cloud server, wherein the reference detour route comprises coordinates of a batch of target points;

performing a safety verification on the reference detour route based on the current driving environment of the ADV, to determine whether there are safety hazards from a current position where the ADV is located to an adjacent target point of the current position, wherein the safety hazards comprise a previously undetected overtaking vehicle behind the ADV, a vehicle traveling in an opposite direction of travel as the ADV, and a previously undetected breaking in pedestrian;

in response to determining that there are no safety hazards, calculating a current driving trajectory, speed and departure time based on the current position, the current driving environment and the coordinates of the adjacent target point;

generating control instructions corresponding to respective actuators in the ADV based on the current driving trajectory, speed and departure time; and

controlling the ADV based on the control instructions,

wherein the method further comprises: in response to the current driving trajectory, speed, and departure time being not feasible for the ADV to drive from the current position to the adjacent target point, returning an error message corresponding to the adjacent target point to the cloud server, so that the adjacent target point is updated by the cloud server.