A vehicle comprising: one or more sensors disposed on the vehicle; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to: receive sensor data from a sensor of the one or more sensors, the sensor data comprising information about an object (104, 106) in an environment proximate the vehicle; determine a planned path (124, 406) of the vehicle through the environment; determine a lateral distance (414, 416, 418) between the planned path (124, 406) and the object (104, 106); determine a classification of the object (104, 106); determine, based at least in part on the lateral distance and the classification, a lateral width (422, 424, 426) proximate the object (104, 106); the vehicle being further characterized in that the instructions configure the vehicle to determine a drive envelope (116, 430), wherein the drive envelope (116, 430) defines a boundary of a portion of the environment along the planned path (124, 406) in which the vehicle can travel and wherein at least a portion of the drive envelope extends the lateral width (422, 424, 426) laterally from the planned path (124, 406) and toward the object (104, 106). one or more sensors disposed on the vehicle; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle to: receive sensor data from a sensor of the one or more sensors, the sensor data comprising information about an object (104, 106) in an environment proximate the vehicle; determine a planned path (124, 406) of the vehicle through the environment; determine a lateral distance (414, 416, 418) between the planned path (124, 406) and the object (104, 106); determine a classification of the object (104, 106); determine, based at least in part on the lateral distance and the classification, a lateral width (422, 424, 426) proximate the object (104, 106); the vehicle being further characterized in that the instructions configure the vehicle to determine a drive envelope (116, 430), wherein the drive envelope (116, 430) defines a boundary of a portion of the environment along the planned path (124, 406) in which the vehicle can travel and wherein at least a portion of the drive envelope extends the lateral width (422, 424, 426) laterally from the planned path (124, 406) and toward the object (104, 106). receive sensor data from a sensor of the one or more sensors, the sensor data comprising information about an object (104, 106) in an environment proximate the vehicle; determine a planned path (124, 406) of the vehicle through the environment; determine a lateral distance (414, 416, 418) between the planned path (124, 406) and the object (104, 106); determine a classification of the object (104, 106); determine, based at least in part on the lateral distance and the classification, a lateral width (422, 424, 426) proximate the object (104, 106); the vehicle being further characterized in that the instructions configure the vehicle to determine a drive envelope (116, 430), wherein the drive envelope (116, 430) defines a boundary of a portion of the environment along the planned path (124, 406) in which the vehicle can travel and wherein at least a portion of the drive envelope extends the lateral width (422, 424, 426) laterally from the planned path (124, 406) and toward the object (104, 106).