Precise pull-over with mechanical simulation

Systems and methods for identifying a precise stopping location using vehicle sensors and mechanical simulation. In particular, systems and methods are provided for using vehicle sensor information to understand vehicle surroundings, identifying an appropriate stopping position that either does not disrupt traffic (or minimally disrupts traffic), and identifying a path to the stopping position. Additionally, the suitability of the stopping position is determined by performing a simulation of the vehicle movement to the stopping position as well as a simulation of passenger behavior during vehicle exit. In some examples, the simulation is performed using a short-range relative map of the vehicle surroundings rather than using the driving map. Additionally, the simulation can be performed using heuristic or data-driven models.