A computer-implemented method implemented for controlling an autonomous vehicle, the method comprising: obtaining, by a collision mitigation system comprising one or more first computing devices in communication with one or more first sensors, from an autonomy system comprising one or more second computing devices in communication with one or more second sensors, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment, wherein the planned trajectory is based at least in part on sensor data from the one or more second sensors, wherein the autonomy system is configured to plan and execute autonomous navigation for the autonomous vehicle, wherein the collision mitigation system is separate and apart from the autonomy system and the one or more first sensors are separate from the one or more second sensors; determining, by the collision mitigation system, a region of interest (306; 406; 506) in the surrounding environment based at least in part on the planned trajectory; controlling, by the collision mitigation system, the one or more first sensors to obtain data indicative of the region of interest; identifying, by the collision mitigation system, one or more objects (302; 402; 502) in the region of interest based at least in part on the data obtained by the one or more first sensors; characterized by providing, by the collision mitigation system, one or more control signals to one or more vehicle control systems to control a motion of the autonomous vehicle to avoid at least one of the one or more objects identified in the region of interest; and providing, by the collision mitigation system, data indicative of the one or more objects in the region of interest to the autonomy system, wherein controlling the motion of the autonomous vehicle comprises: if a potential collision with the one or more objects persists for a time after the collision mitigation system provides information associated with the potential collision to the autonomy system, then providing the one or more control signals by the collision mitigation system to control the autonomous vehicle to execute a braking maneuver. obtaining, by a collision mitigation system comprising one or more first computing devices in communication with one or more first sensors, from an autonomy system comprising one or more second computing devices in communication with one or more second sensors, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment, wherein the planned trajectory is based at least in part on sensor data from the one or more second sensors, wherein the autonomy system is configured to plan and execute autonomous navigation for the autonomous vehicle, wherein the collision mitigation system is separate and apart from the autonomy system and the one or more first sensors are separate from the one or more second sensors; determining, by the collision mitigation system, a region of interest (306; 406; 506) in the surrounding environment based at least in part on the planned trajectory; controlling, by the collision mitigation system, the one or more first sensors to obtain data indicative of the region of interest; identifying, by the collision mitigation system, one or more objects (302; 402; 502) in the region of interest based at least in part on the data obtained by the one or more first sensors; characterized by providing, by the collision mitigation system, one or more control signals to one or more vehicle control systems to control a motion of the autonomous vehicle to avoid at least one of the one or more objects identified in the region of interest; and providing, by the collision mitigation system, data indicative of the one or more objects in the region of interest to the autonomy system, wherein controlling the motion of the autonomous vehicle comprises: if a potential collision with the one or more objects persists for a time after the collision mitigation system provides information associated with the potential collision to the autonomy system, then providing the one or more control signals by the collision mitigation system to control the autonomous vehicle to execute a braking maneuver.