A vehicle comprising: a sensor; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to: determine a planned path of the vehicle through an environment; determine a first acceleration of the vehicle along the planned path; receive sensor data from the sensor, the sensor data comprising information about an object in the environment; determine, based at least in part on the sensor data, that a probability that the object will impact travel of the vehicle along the planned path meets or exceeds a threshold probability; determine a second acceleration of the vehicle along the planned path, the second acceleration being an acceleration of the vehicle responsive to the object impacting travel of the vehicle along the planned path; determine, as a function of at least the first acceleration and the second acceleration, a third acceleration of the vehicle along the planned path, the third acceleration being different from the first acceleration and the second acceleration; and control the vehicle to accelerate along the planned path in accordance with the third acceleration. a sensor; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to: determine a planned path of the vehicle through an environment; determine a first acceleration of the vehicle along the planned path; receive sensor data from the sensor, the sensor data comprising information about an object in the environment; determine, based at least in part on the sensor data, that a probability that the object will impact travel of the vehicle along the planned path meets or exceeds a threshold probability; determine a second acceleration of the vehicle along the planned path, the second acceleration being an acceleration of the vehicle responsive to the object impacting travel of the vehicle along the planned path; determine, as a function of at least the first acceleration and the second acceleration, a third acceleration of the vehicle along the planned path, the third acceleration being different from the first acceleration and the second acceleration; and control the vehicle to accelerate along the planned path in accordance with the third acceleration. determine a planned path of the vehicle through an environment; determine a first acceleration of the vehicle along the planned path; receive sensor data from the sensor, the sensor data comprising information about an object in the environment; determine, based at least in part on the sensor data, that a probability that the object will impact travel of the vehicle along the planned path meets or exceeds a threshold probability; determine a second acceleration of the vehicle along the planned path, the second acceleration being an acceleration of the vehicle responsive to the object impacting travel of the vehicle along the planned path; determine, as a function of at least the first acceleration and the second acceleration, a third acceleration of the vehicle along the planned path, the third acceleration being different from the first acceleration and the second acceleration; and control the vehicle to accelerate along the planned path in accordance with the third acceleration. <EOS>