Methods and devices for determining an action in the presence of road users

A non-transitory computer-readable medium comprising instructions which, if executed by a processor, cause the processor to:

• access environment information comprising an indication of a size of road users intersecting with a predetermined route of a vehicle in a road environment;
• prioritize an anticipated movement of at least one of the road users over? a predicted movement of the vehicle within the predetermined route based on the size of road users;
• and
• determine a vehicle action allowing the anticipated movement of the at least one road user.

A device comprising:

• a means for accessing environment information comprising an indication of a size of road users intersecting with a predetermined route of a vehicle in a road environment;
• a means for prioritizing an anticipated movement of at least one of the road users over a predicted movement of the vehicle within the predetermined route based on the size of road users;
• and
• a means for determining a vehicle action allowing the anticipated movement of the at least one road user.