Techniques for determining vehicle actions and controlling a vehicle to perform vehicle actions to navigate the vehicle in an environment may include determining vehicle actions performed by the vehicle in the environment, such as a lane change action. The vehicle may detect an object associated with a target lane based at least in part on the sensor data, the target lane associated with lane change motion sensor data. In some examples, a vehicle may determine attribute data associated with an object and input the attribute data to a machine learning model, which may output a yielding score. Based on such a yielding score, the vehicle may determine whether performing the lane change action is safe.
Concession behavioral modeling and prediction