Considering comfort term for driving

[HodaHo]

Dear Dr eleurent
Thanks again for the great work, I have 2 questions:
1-
I'd like to add the driving comfort in my problem, what is your suggestion? It seems, it should be added as a term next to collision avoidance and maximum speed in the reward function, what do you suggest for this?

2-
How can I consider the center of the rear axle as a base instead of the center of gravity of the vehicle (I want the center point of the rear axle to track the designed path, not the center of gravity of the car)

Best regards