A computer-implemented method causes a self-driving vehicle (SDV) to avoid a physical encounter with an animal. One or more sensors on a self-driving vehicle (SDV) capture a description of an environment around an animal that the SDV is approaching. A camera captures an image of the animal that the SDV is approaching. An SDV on-board computer on the SDV determines an animal type of the animal based on the captured image of the animal, and then predicts a direction and speed of movement of the animal based on the animal type of the animal and the captured description of the environment of the animal. The SDV on-board computer then determines a probability of a physical encounter between the SDV and the animal, and adjusts the speed and direction of the SDV accordingly in order to reduce a likelihood of the SDV striking the animal.