Generally, the present disclosure is directed to systems and methods that include or otherwise leverage a decision point engine as part of determining a motion plan for an autonomous vehicle. In particular, a motion planning system that includes a decision point engine can be configured to obtain object data associated with one or more objects identified near one or more travel paths of an autonomous vehicle. The system can determine a stopping profile based at least in part on the object data, wherein the stopping profile identifies a set of candidate states for the autonomous vehicle that preserves an ability of the autonomous vehicle to stop before the interaction point. The system can determine a decision point corresponding to a selected state from the set of candidate states identified by the stopping profile, and determine a trajectory for the autonomous vehicle based at least in part on the decision point.