Navigational system with imposed liability constraints

A computer-implemented method for navigating a host vehicle, the method comprising:

• receiving at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;
• determining, based on at least one driving policy, a plurality of potential navigational actions for the host vehicle;
• analyzing the at least one image to identify a target vehicle in the environment of the host vehicle;
• based on analysis of the at least one image, determining one or more characteristics of a navigational state of the identified target vehicle;
• testing the plurality of potential navigational actions against at least one accident liability rule for determining potential accident liability for the host vehicle relative to the identified target vehicle, wherein testing the plurality of potential navigational actions includes, for each of the plurality of potential navigational actions, comparing the determined one or more characteristics of the navigational state of the identified target vehicle to the at least one accident liability rule;
• selecting one of the potential navigational actions for which the test indicates that no accident liability would result for the host vehicle if the selected potential navigational action is taken;
• and
• causing the host vehicle to implement the selected potential navigational action.

A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to perform a method for navigating a host vehicle, the method comprising:

• receiving at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;
• determining, based on at least one driving policy, a plurality of potential navigational actions for the host vehicle;
• analyzing the at least one image to identify a target vehicle in the environment of the host vehicle;
• based on analysis of the at least one image, determining one or more characteristics of a navigational state of the identified target vehicle;
• testing the plurality of potential navigational actions against at least one accident liability rule for determining potential accident liability for the host vehicle relative to the identified target vehicle, wherein testing the plurality of potential navigational actions includes, for each of the plurality of potential navigational actions, comparing the determined one or more characteristics of the navigational state of the identified target vehicle to the at least one accident liability rule;
• selecting one of the potential navigational actions for which the test indicates that no accident liability would result for the host vehicle if the selected potential navigational action is taken;
• and
• causing the host vehicle to implement the selected potential navigational action.