Controller of a vehicle uses control functions to transition the current state of the vehicle into a target state. A control function is probabilistic to output a parametric probability distribution over the target state defined by a first moment and at least one higher order moment. The controller submits the current state into at least a subset of control functions consistent with the next driving decision to produce a subset of parametric probability distributions over the target state, combines the subset of parametric probability distributions to produce a joint parametric probability distribution of the target state, and determines the control command based on the first moment and at least one higher order moment of the joint parametric probability distribution of the target state.