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.