During the autonomous locomotion of personal mobility vehicles (PMVs) in pedestrian space, it is necessary to avoid collisions with pedestrians walking nearby. The avoidance paths of the PMVs are affected by the behavior of the pedestrians, which may also affect passenger comfort. In this study, a local path planning method considering passenger comfort is proposed to design comfortable pedestrian avoidance strategies during autonomous locomotion of PMVs in pedestrian space. First, pedestrian behaviors that affect passenger comfort are investigated by evaluating the comfort in pedestrian avoidance scenarios with different avoidance methods and pedestrian behavior. Next, requirements for a pedestrian avoidance method considering comfort are set based on the behaviors affecting passenger comfort. Finally, a novel path planning method satisfying the requirements is proposed. It is confirmed that the proposed method can generate comfortable paths in pedestrian space, and the validity of the proposed method is examined by a subject experiment.