System, Method, and Computer Program Product for Detecting and Preventing an Autonomous Driving Action

Provided are systems, methods, and computer program products for controlling an autonomous vehicle (AV) to maneuver in a roadway, comprising acquiring, data associated with an actor detected on a route of the AV in the roadway for sensing a trajectory of the actor, predicting that the trajectory of the actor includes at least one characteristic that is associated with invoking a conditionally disallowed action in the AV, automatically restricting the conditionally disallowed action from a motion plan of the AV to prevent the AV from executing the conditionally disallowed action in response to detecting that one or more conditions are present in the roadway, issuing a command to control the AV on a candidate trajectory generated to prevent an option for the conditionally disallowed action.