OBJECT DETERMINATION IN AN OCCLUDED REGION

A vehicle computing device may implement techniques to predict behavior of objects or predicted objects in an environment. The techniques may include using a model to determine whether a potential object will emerge from an occluded region in the environment. The model may be configured to use one or more algorithms, classifiers, and/or computational resources to predict an intersection point and/or an intersection time between the potential object and the vehicle. Based on the predicted intersection point and/or the predicted intersection time, the vehicle computing device may control operation of the vehicle.