An autonomous vehicle comprising: a first controller (116-1) for determining a first acceleration based at least in part on first input information and a first controller gain; a second controller (116-2) for determining a second acceleration based at least in part on second input information and a second controller gain; one or more processors ; and memory storing processor-executable instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform acts comprising: receiving a first request for controlling the autonomous vehicle relative to a first condition in an environment of the autonomous vehicle, the first request comprising first velocity information and distance information; determining, using the first controller, a first acceleration for the autonomous vehicle to implement the first request, receiving a second request for controlling the autonomous vehicle relative to a second condition in the environment, the second request comprising second velocity information; determining, using the second controller, a second acceleration for the autonomous vehicle to implement the second request; determining, based at least in part on the first acceleration and the second acceleration, a command acceleration for controlling the autonomous vehicle at a point along a trajectory; and controlling the autonomous vehicle based at least in part on the command acceleration to follow the trajectory. a first controller (116-1) for determining a first acceleration based at least in part on first input information and a first controller gain; a second controller (116-2) for determining a second acceleration based at least in part on second input information and a second controller gain; one or more processors ; and memory storing processor-executable instructions that, when executed by the one or more processors, cause the autonomous vehicle to perform acts comprising: receiving a first request for controlling the autonomous vehicle relative to a first condition in an environment of the autonomous vehicle, the first request comprising first velocity information and distance information; determining, using the first controller, a first acceleration for the autonomous vehicle to implement the first request, receiving a second request for controlling the autonomous vehicle relative to a second condition in the environment, the second request comprising second velocity information; determining, using the second controller, a second acceleration for the autonomous vehicle to implement the second request; determining, based at least in part on the first acceleration and the second acceleration, a command acceleration for controlling the autonomous vehicle at a point along a trajectory; and controlling the autonomous vehicle based at least in part on the command acceleration to follow the trajectory. receiving a first request for controlling the autonomous vehicle relative to a first condition in an environment of the autonomous vehicle, the first request comprising first velocity information and distance information; determining, using the first controller, a first acceleration for the autonomous vehicle to implement the first request, receiving a second request for controlling the autonomous vehicle relative to a second condition in the environment, the second request comprising second velocity information; determining, using the second controller, a second acceleration for the autonomous vehicle to implement the second request; determining, based at least in part on the first acceleration and the second acceleration, a command acceleration for controlling the autonomous vehicle at a point along a trajectory; and controlling the autonomous vehicle based at least in part on the command acceleration to follow the trajectory. <EOS>