System, methods, and other embodiments described herein relate to dynamically determining an appropriate responsive action for a moving vehicle that encounters a roadside pedestrian and stationary vehicle. In one embodiment the disclosed system identifies a stationary vehicle in an environment of a subject vehicle based at least in part on information from a plurality of sensors disposed on the subject vehicle and determines a classification for the stationary vehicle as valid or abandoned based at least in part on the information from the plurality of sensors. A classification of valid indicates that the subject vehicle is recommended to undertake an action relative to the stationary vehicle. The disclosed generates a score based at least in part on the classification, the score indicating a recommended trajectory modification for the subject vehicle, and modifies a trajectory of the subject vehicle based on score.