A computer-implemented method for operating an autonomous driving vehicle, the method comprising: receiving a request to drive an autonomous driving vehicle, ADV, to reach a target acceleration from a current speed of the ADV; performing a lookup operation in a selected command calibration table based on the current speed and the target acceleration to locate an entry that matches the current speed and the target acceleration, wherein the selected command calibration table is one of a plurality of command calibration tables that have been preconfigured; obtaining a control command from the matching entry of the selected command calibration table; and issuing the control command to the ADV to control the ADV to reach the target acceleration; characterized in that the method further comprises: periodically determining a driving environment associated with the ADV; and selecting one of a plurality of command calibration tables as the selected command calibration table based on the driving environment, each of the command calibration tables corresponding to one of a plurality of driving environment settings, the selecting comprising: collecting a first set of driving statistics data for a predetermined period of time while the ADV is driving in the determined driving environment; identifying a set of command calibration table candidates from the plurality of command calibration tables that are associated with the determined driving environment; comparing the first set of driving statistics data against a second set of driving statistics data obtained from each of the command calibration table candidates; calculating a similarity score for each of the command calibration table candidates based on the comparison; and selecting one of the command calibration table candidates with a highest similarity score as the selected command calibration table. receiving a request to drive an autonomous driving vehicle, ADV, to reach a target acceleration from a current speed of the ADV; performing a lookup operation in a selected command calibration table based on the current speed and the target acceleration to locate an entry that matches the current speed and the target acceleration, wherein the selected command calibration table is one of a plurality of command calibration tables that have been preconfigured; obtaining a control command from the matching entry of the selected command calibration table; and issuing the control command to the ADV to control the ADV to reach the target acceleration; characterized in that the method further comprises: periodically determining a driving environment associated with the ADV; and selecting one of a plurality of command calibration tables as the selected command calibration table based on the driving environment, each of the command calibration tables corresponding to one of a plurality of driving environment settings, the selecting comprising: collecting a first set of driving statistics data for a predetermined period of time while the ADV is driving in the determined driving environment; identifying a set of command calibration table candidates from the plurality of command calibration tables that are associated with the determined driving environment; comparing the first set of driving statistics data against a second set of driving statistics data obtained from each of the command calibration table candidates; calculating a similarity score for each of the command calibration table candidates based on the comparison; and selecting one of the command calibration table candidates with a highest similarity score as the selected command calibration table. periodically determining a driving environment associated with the ADV; and selecting one of a plurality of command calibration tables as the selected command calibration table based on the driving environment, each of the command calibration tables corresponding to one of a plurality of driving environment settings, the selecting comprising: collecting a first set of driving statistics data for a predetermined period of time while the ADV is driving in the determined driving environment; identifying a set of command calibration table candidates from the plurality of command calibration tables that are associated with the determined driving environment; comparing the first set of driving statistics data against a second set of driving statistics data obtained from each of the command calibration table candidates; calculating a similarity score for each of the command calibration table candidates based on the comparison; and selecting one of the command calibration table candidates with a highest similarity score as the selected command calibration table.