Navigation with a safe lateral distance

A method for navigating a host vehicle, the method comprising:

• receiving, from an image capture device, at least one image representative of an environment of the host vehicle;
• determining, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
• analyzing the at least one image to identify a target vehicle in the environment of the host vehicle;
• determining a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
• determining a maximum yaw rate capability of the host vehicle, a maximum change in turn radius capability of the host vehicle, and a current lateral speed of the host vehicle;
• determining a lateral braking distance for the host vehicle based on the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, and the current lateral speed of the host vehicle;
• determining a current lateral speed of the target vehicle, a target vehicle maximum yaw rate capability, and a target vehicle maximum change in turn radius capability;
• determining a lateral braking distance for the target vehicle based on the current lateral speed of the target vehicle, the target vehicle maximum yaw rate capability, and the target vehicle maximum change in turn radius capability;
• determining that the next-state lateral distance is greater than a sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle;
• and
• implementing the planned navigational action when the determined next-state lateral distance is greater than the sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle.