Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices associated with vehicle control based on risk-based interactions are provided. For example, vehicle data and perception data can be accessed. The vehicle data can include the speed of an autonomous vehicle in an environment. The perception data can include location information and classification information associated with an object in the environment. A scenario exposure can be determined based on the vehicle data and perception data. Prediction data including predicted trajectories of the object can be accessed. Expected speed data can be determined based on hypothetical speeds and hypothetical distances between the vehicle and the object. A speed profile that satisfies a threshold criteria can be determining based on the scenario exposure, the prediction data, and the expected speed data, over a distance. A motion plan to control the autonomous vehicle can be generated based on the speed profile.

Abstract: A vehicle routing system instructs a first vehicle having a human driver to execute a first route for delivering a first payload from a first pick-up location to a first destination. Instructions provided to the first vehicle include an instruction to drop-off the human driver at a driver transfer location along the first route and to continue along the first route without the human driver. The system further instructs a second vehicle that is operating autonomously to execute a second route that also includes the driver transfer location. The instructions to the second vehicle include an instruction to pick-up the human driver from the first vehicle at the driver transfer location and to continue along the second route with the human driver. The route segments may be labeled as suitable or unsuitable for autonomous driving to identify where to locate the driver transfer locations.