Proactive Risk Mitigation

Proactively mitigating risk to a vehicle traversing a vehicle transportation network is described. First and second hazard zones for first and second objects ahead of the vehicle are respectively determined. The first hazard zone includes a first target lateral constraint that extends over a left lane boundary, and the second hazard zone includes a second target lateral constraint that extends over a right lane boundary. The lateral constraints separately allow the vehicle to avoid the objects without a speed constraint. Where the first and second hazard zones overlap in the longitudinal direction, a lateral buffer is allocated between the lateral constraints to generate first and second allocated lateral constraints. Longitudinal constraints are respectively determined based on times of arrival at each hazard zone. Using the constraints, a proactive trajectory is determined that includes a lateral contingency, a longitudinal contingency, or both. The vehicle is controlled according to the trajectory.