Backup or Stopping Hazards

A system can determine, from a vehicle traversing in a vehicle transportation network, movement information associated with an object traveling in front of the vehicle and road information associated with the vehicle transportation network. The system can then determine a probability of the object representing a backup or stopping (BoS) hazard to the vehicle. The probability can be based on the movement information and the road information. The system can then assign a BoS classification to the object based on the probability exceeding a threshold. The system can then calculate, based on assigning the BoS classification, a risk zone representing a target minimum separation distance between the vehicle and the object. The system can then control the vehicle to avoid the risk zone by constraining a speed of the vehicle.