Adverse prediction planning

A vehicle computer system implements techniques to predict behavior of objects detected by a vehicle operating in the environment. The techniques include using a model to determine a first object trajectory for an object (e.g., a predicted object trajectory) and/or a potential object in an occluded area, as well as a second object trajectory for the object or potential object (e.g., an adverse object trajectory). The model is configured to use one or more algorithms, classifiers, and/or computational resources to predict candidate trajectories for the vehicle based on at least one of the first object trajectory or the second object trajectory. Based on the predicted behavior of the object (or potential object) and the predicted candidate trajectories for the vehicle, a vehicle computer system controls operation of the vehicle.