  Current advances in the development of autonomous cars suggest that
driverless cars may see wide-scale deployment in the near future. Research by
both industry and academia is driven by potential benefits of this new
technology, including reductions in fatalities and improvements in traffic and
fuel efficiency as well as greater mobility for people who will or cannot drive
cars themselves. A deciding factor for the adoption of self-driving cars
besides safety will be the comfort of the passengers. This report looks at cost
functions currently used in motion planning methods for autonomous on-road
driving. Specifically, how the human perception of how comfortable a trajectory
is can be formulated within cost functions.
