SYSTEMS AND METHODS FOR CONTROLLED DECELERATION

Systems and techniques for determining deceleration controls to use in a trajectory for use in stopping a vehicle are described. A deceleration determination system may receive a trajectory from a trajectory determination system and determine, based on various deceleration parameters, the appropriate controls to configure in a longitudinal profile of the trajectory and the suitable implementation points for implementing the controls. The deceleration determination system may determine deceleration data for various types of trajectories that a vehicle computing system may select from for operating the vehicle based on current conditions.