1. A vehicle computing system, comprising: one or more processors; and one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the one or more processors cause the vehicle computing system to perform operations comprising: obtaining state data indicative of one or more current or past states of a first object and a second object within a surrounding environment of an autonomous vehicle, wherein the first object is located ahead of the second object in a travel lane, wherein the first object and the second object are associated with a lead-follower object relationship; determining a first predicted motion trajectory of the first object based at least in part on the state data; determining a second predicted motion trajectory of the second object based at least in part on the state data and the first predicted motion trajectory of the first object, wherein the second predicted motion trajectory of the second object is indicative of a path that the second object is predicted to travel and an associated timing with which the second object is predicted to travel in accordance with the path; determining a motion plan for the autonomous vehicle based at least in part on the second predicted motion trajectory of the second object; and causing the autonomous vehicle to initiate a motion control in accordance with at least a portion of the motion plan.