SYSTEMS AND METHODS FOR PLANNING LONGITUDINAL PATHS FOR FUTURE CONSTRAINTS

Systems and methods for planning longitudinal paths for future constraints autonomous vehicles is provided. The at least one processor of the autonomy computing system is configured to process a future distance constraint between an autonomous vehicle and an object, detect at least one key point in the distance constraint. The key point includes a change in the future distance constraint, compute a velocity corresponding to a jerk minimizing trajectory based on the at least one key point, wherein in the jerk minimizing trajectory, an acceleration of the autonomous vehicle is less than or equal to a maximum allowable deceleration while meeting the future distance constraint. The processor is further configured to initiate a change in velocity of the autonomous vehicle based on the velocity.