According to one embodiment, a dynamic parameter server is provided in an ADV to update parameters of an autonomous driving system (ADS) of the ADV in real time without requiring the reboot of the ADS. The dynamic parameter server can obtain new parameters from a configuration file created by users based on their experiences and expectations. Each new parameter is mapped to certain physical conditions. When the ADV encounters the physical conditions mapped to a particular parameter, the dynamic parameter server can broadcast the new parameters to the ADS, which can use the new parameters to control the ADV. The physical conditions can be used as selection factors for the dynamic parameter to determine which ADS parameter to update.