A method executed by a computing system of an autonomous vehicle, AV, , the method comprising: defining an occluded region (126; 302; 304; 402; 404; 1012; 1014; 1216; 1218; 1302), wherein the occluded region is a spatial region where the AV lacks visibility, and further wherein the occluded region comprises a portion of a roadway (102; 1002; 1008; 1202; 1208); responsive to defining the occluded region, inferring a reaction of a vehicle (128; 1102; 1502) to the AV if the vehicle were to be travelling on the portion of the roadway included in the occluded region, wherein inferring the reaction of the vehicle to the AV comprises: computing a position where the AV is expected to first be visible to the vehicle when the vehicle is at the position, wherein the position is within the occluded region, and further wherein the reaction of the vehicle is inferred based upon the computed position; assigning a deceleration to the vehicle based upon a profile of the vehicle that is retained in computer-readable storage (122; 1504); and computing an interaction point where the vehicle is expected to cease moving in response to the vehicle observing the AV; based upon the inferred reaction of the vehicle to the AV and the computed interaction point and responsive to inferring the reaction of the vehicle, identifying a driving maneuver for the AV to undertake; and responsive to identifying the driving maneuver, causing the AV to perform the identified driving maneuver. defining an occluded region (126; 302; 304; 402; 404; 1012; 1014; 1216; 1218; 1302), wherein the occluded region is a spatial region where the AV lacks visibility, and further wherein the occluded region comprises a portion of a roadway (102; 1002; 1008; 1202; 1208); responsive to defining the occluded region, inferring a reaction of a vehicle (128; 1102; 1502) to the AV if the vehicle were to be travelling on the portion of the roadway included in the occluded region, wherein inferring the reaction of the vehicle to the AV comprises: computing a position where the AV is expected to first be visible to the vehicle when the vehicle is at the position, wherein the position is within the occluded region, and further wherein the reaction of the vehicle is inferred based upon the computed position; assigning a deceleration to the vehicle based upon a profile of the vehicle that is retained in computer-readable storage (122; 1504); and computing an interaction point where the vehicle is expected to cease moving in response to the vehicle observing the AV; computing a position where the AV is expected to first be visible to the vehicle when the vehicle is at the position, wherein the position is within the occluded region, and further wherein the reaction of the vehicle is inferred based upon the computed position; assigning a deceleration to the vehicle based upon a profile of the vehicle that is retained in computer-readable storage (122; 1504); and computing an interaction point where the vehicle is expected to cease moving in response to the vehicle observing the AV; based upon the inferred reaction of the vehicle to the AV and the computed interaction point and responsive to inferring the reaction of the vehicle, identifying a driving maneuver for the AV to undertake; and responsive to identifying the driving maneuver, causing the AV to perform the identified driving maneuver. <EOS>