Methods and systems for controlling gear shifts based on future trajectory information

Techniques for controlling gear shifts based on future trajectory information are presented herein. A vehicle computing system may receive sensor data representing an environment of the vehicle during autonomous navigation of a path and determine, based on the sensor data, the vehicle is approaching a predefined situation positioned along the path. The computing system may then estimate a future acceleration or speed associated with navigation of the predefined situation by the vehicle. The computing system may determine, based on the future acceleration or speed and a current acceleration of the vehicle, whether to perform a gear shift prior to navigation of the predefined situation by the vehicle, and control the vehicle based on determining whether to perform the gear shift prior to navigation of the predefined situation.