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In a system with which acceleration and braking by the driver are automated, a gap against the system can be felt when the timing of acceleration or deceleration is different from that intended by the driver or the extent of acceleration or deceleration exceeds an acceptable limit. For an automated system, it is important to realize a control that provides comfort and a sense of security for the driver. This paper is related to the technology that secures the ride comfort felt by the driver (comfort and a sense of security) within an appropriate range and presents a discussion of the technological means to improve the ride comfort from a viewpoint particularly related to longitudinal direction.