VEHICLE DECELERATION PLANNING

Techniques for vehicle deceleration planning are discussed. The techniques include determining a first location and a first velocity of a vehicle. The techniques further include determining a second location and a second velocity of an object. Based on the first location, the second location, the first velocity, and the second velocity, a relative stopping distance between the vehicle and the object can be determined. If the relative stopping distance is less than a threshold distance, the first maximum deceleration value can be increased to a second maximum deceleration value, and the techniques determine a trajectory for the vehicle based at least in part on the second maximum deceleration value.