DETERMINING VEHICLE TRAJECTORIES BASED ON OBJECT BEHAVIORS

A trajectory associated with a vehicle may be determined based on determining that an object in the vehicle's environment is associated with a behavior of interest which may diverge from a nominal behavior otherwise associated with the object. Based on the divergence from anticipated nominal behavior, a region of the environment may be identified and used to determine a trajectory for control. The determined trajectory may be used to control a vehicle and/or inform the driving behavior of a vehicle.