An autonomous vehicle, AV,, comprising: a plurality of sensor systems (102; 104) that generate a plurality of sensor signals, the plurality of sensor signals indicative of a vehicle in a driving environment of the AV; and a computing system that is in communication with the plurality of sensor systems, wherein the computing system comprises: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: generating, based upon the sensor signals, a plurality of position solutions for the vehicle in the driving environment, the position solutions indicative of positions of the vehicle over a period of time, the positions being included in a region (316; 318; 320) in the driving environment; computing a magnitude of acceleration of the vehicle in the region in the driving environment during the period of time based upon the position solutions; and controlling acceleration of the AV while the AV traverses the region based upon the computed magnitude of acceleration of the vehicle in the region, wherein the acceleration of the AV is controlled such that a maximum acceleration of the AV while the AV traverses the region is less than or equal to the computed magnitude of the acceleration of the vehicle in the region. a plurality of sensor systems (102; 104) that generate a plurality of sensor signals, the plurality of sensor signals indicative of a vehicle in a driving environment of the AV; and a computing system that is in communication with the plurality of sensor systems, wherein the computing system comprises: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: generating, based upon the sensor signals, a plurality of position solutions for the vehicle in the driving environment, the position solutions indicative of positions of the vehicle over a period of time, the positions being included in a region (316; 318; 320) in the driving environment; computing a magnitude of acceleration of the vehicle in the region in the driving environment during the period of time based upon the position solutions; and controlling acceleration of the AV while the AV traverses the region based upon the computed magnitude of acceleration of the vehicle in the region, wherein the acceleration of the AV is controlled such that a maximum acceleration of the AV while the AV traverses the region is less than or equal to the computed magnitude of the acceleration of the vehicle in the region. a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: generating, based upon the sensor signals, a plurality of position solutions for the vehicle in the driving environment, the position solutions indicative of positions of the vehicle over a period of time, the positions being included in a region (316; 318; 320) in the driving environment; computing a magnitude of acceleration of the vehicle in the region in the driving environment during the period of time based upon the position solutions; and controlling acceleration of the AV while the AV traverses the region based upon the computed magnitude of acceleration of the vehicle in the region, wherein the acceleration of the AV is controlled such that a maximum acceleration of the AV while the AV traverses the region is less than or equal to the computed magnitude of the acceleration of the vehicle in the region. generating, based upon the sensor signals, a plurality of position solutions for the vehicle in the driving environment, the position solutions indicative of positions of the vehicle over a period of time, the positions being included in a region (316; 318; 320) in the driving environment; computing a magnitude of acceleration of the vehicle in the region in the driving environment during the period of time based upon the position solutions; and controlling acceleration of the AV while the AV traverses the region based upon the computed magnitude of acceleration of the vehicle in the region, wherein the acceleration of the AV is controlled such that a maximum acceleration of the AV while the AV traverses the region is less than or equal to the computed magnitude of the acceleration of the vehicle in the region.