Patent attributes
Techniques and methods for providing additional safety for interactions with pedestrians. For instance, a vehicle may identify a region through which the vehicle and agent (such as a pedestrian) pass. The vehicle may then use a first state of the vehicle and predicted positions for the agent to determine a first collision metric between the vehicle and the agent within the region. Additionally, the vehicle may use the first collision metric to determine a maneuver for the vehicle. Next, the vehicle may simulate a state of the vehicle at a second time, where the state if based on the maneuver. The vehicle may then determine a second collision metric between the vehicle and the agent within the region using the state and the predicted positions of the agent. Additionally, the vehicle may use the second collision metric to determine another maneuver for the vehicle.