> I want it to do something like a minimax search and do something that will be safe in the presence of the unexpected
This is called defensive driving, and you're wrong about it not being based on prediction. Defensive driving predicts that every wrong thing that can happen will happen and positions the vehicle to minimize the harm when they do.
Fundamentally, if you don't predict that the car up ahead may swerve into your Lane and slam on its brakes, then you're less defended when it does. Defensively choosing what to do and where to be at any moment is based on predicting it happening and acting accordingly.
This is called defensive driving, and you're wrong about it not being based on prediction. Defensive driving predicts that every wrong thing that can happen will happen and positions the vehicle to minimize the harm when they do.
Fundamentally, if you don't predict that the car up ahead may swerve into your Lane and slam on its brakes, then you're less defended when it does. Defensively choosing what to do and where to be at any moment is based on predicting it happening and acting accordingly.