SYSTEMS AND METHODS FOR CONTROLLING LONGITUDINAL ACCELERATION BASED ON LATERAL OBJECTS

Disclosed herein are systems, methods, and computer program products for controlling acceleration of a vehicle. The methods comprising: detecting a lateral distance from a point on a trajectory of the vehicle to an object the vehicle is expected to pass when following the trajectory, the object being located off of and to a side of the trajectory and the point representing a future location of the vehicle while passing the object; comparing the lateral distance to a threshold value; selecting whether acceleration limiting is to be performed by the vehicle based on whether the lateral distance is less than the threshold value; and causing the vehicle to perform operations for autonomous driving with or without acceleration limiting based on said selecting.