A computer implemented method comprising: obtaining first data representing a predicted movement of a first object and second data representing a predicted movement of a second object , the first and the second object being within a surrounding environment of an autonomous vehicle, wherein the first object comprises a first vehicle, a first pedestrian, or a first bicycle, and wherein the second object comprises a second vehicle, a second pedestrian or a second bicycle, wherein the first data is indicative of an initial predicted trajectory of the first object, the initial predicted trajectory of the first object indicative of a predicted path of the first object and a timing at which the first object is predicted to traverse the predicted path of the first object, wherein the second data is indicative of an initial predicted trajectory of the second object, the initial predicted trajectory of the second object indicative of a predicted path of the second object and a timing at which the second object is predicted to traverse the predicted path of the second object; determining an interaction between the first object and the second object based at least in part on the first data and the second data wherein determining the interaction between the first object and the second object comprises determining that the initial predicted trajectory of the first object and the initial predicted trajectory of the second object intersect; determining a modified predicted movement of the first object within the surrounding environment based at least in part on the interaction between the first object and the second object; and determining a motion plan for the autonomous vehicle based at least in part on the modified predicted movement of the first object. obtaining first data representing a predicted movement of a first object and second data representing a predicted movement of a second object , the first and the second object being within a surrounding environment of an autonomous vehicle, wherein the first object comprises a first vehicle, a first pedestrian, or a first bicycle, and wherein the second object comprises a second vehicle, a second pedestrian or a second bicycle, wherein the first data is indicative of an initial predicted trajectory of the first object, the initial predicted trajectory of the first object indicative of a predicted path of the first object and a timing at which the first object is predicted to traverse the predicted path of the first object, wherein the second data is indicative of an initial predicted trajectory of the second object, the initial predicted trajectory of the second object indicative of a predicted path of the second object and a timing at which the second object is predicted to traverse the predicted path of the second object; determining an interaction between the first object and the second object based at least in part on the first data and the second data wherein determining the interaction between the first object and the second object comprises determining that the initial predicted trajectory of the first object and the initial predicted trajectory of the second object intersect; determining a modified predicted movement of the first object within the surrounding environment based at least in part on the interaction between the first object and the second object; and determining a motion plan for the autonomous vehicle based at least in part on the modified predicted movement of the first object. <EOS>