During the past twenty years, autonomous driving has moved from the realm of science fiction to a very real possibility. With the growing interest in self-employed vehicles, the problem of motion sickness may be so important that not addressing it may limit the users’ acceptance, reducing the safety and environmental impact of autonomous vehicles. The comfort of an autonomous vehicle is largely determined by its control algorithm. An autonomous vehicle’s control consists mainly of three interconnected modules: environment perception, path planning and vehicle control. In view of this, the current study presents a method based on a Fuzzy Logic Controller aiming to compute a suitable reference speed profile in order to optimize the passenger comforts and control performances.