Suggesting alternative pickup and drop off locations for autonomous vehicles

A method of controlling a vehicle in an autonomous driving mode, the method comprising:

• receiving, by one or more processors of the vehicle, a first location corresponding to a location where the vehicle is to pick up or drop off a passenger;
• controlling, by the one or more processors, the vehicle in the autonomous driving mode towards the first location;
• while controlling the vehicle in the autonomous driving mode in order to reach the first location:
• determining, by the one or more processors, a first cost for the vehicle to reach the first location,
• identifying a second location based on the first location,
• determining, by the one or more processors, a second cost based on a cost for the vehicle to reach the second location and a cost for the passenger to reach the second location,
• comparing the first cost to the second cost, and
• sending a notification based on the comparison,
• in response to sending the notification, receiving, by the one or more processors, instructions to proceed to the second location;
• and
• in response to receiving the instructions, controlling, by the one or more processors, the vehicle in the autonomous driving mode to the second location to pick up or drop off the passenger.