According to one embodiment, a request to decelerate an ADV from a first location to stop at a second location is received. In response to the request, a first zone and a second zone are determined within a distance between the first location and the second location. The ADV is controlled to decelerate based on a first deceleration rate from a current speed at the first location to a predetermined speed within the first zone. The ADV then decelerates from the predetermined speed based on a second deceleration rate from the predetermined speed to a full stop within the second zone. The first deceleration rate and the second deceleration rate are different. The first deceleration rate is sufficient enough to slow down the vehicle to a degree within the first zone that ensures the vehicle to fully stop at the second location as planned.