A sub-system operatively connectable to an autonomous vehicle that comprises an autonomous control sub-system; the autonomous control sub-system is configured to process real-time sensory data and generate, based on processing output of the sensor data, commands for controlling the autonomous vehicle; the sub-system comprises at least one processing circuitry configured to: process real-time sensory data, including scanned data output, and generate real-time mapping data, the real-time mapping data comprising information with respect to obstacles within a scanned area; receive real-time driving parameters; the sub-system is configured to: determine at least one safety rule value of at least one safety rule according to the real-time driving parameters, including yaw rate and speed of the autonomous vehicle; wherein the at least one safety rule includes information on a region of interest within the scanned area; wherein the at least one processing circuitry is configured for determining the at least one safety rule value to: adapt the size and shape of the region of interest based on the yaw rate, by creating an offset and increasing width of the region of interest toward an internal part of a turn, thereby increasing the size of an area of the region of interest in a direction of the turn and reducing the area of the region of interest in a direction opposite from the direction of the turn; determine, based on the real-time driving parameters and the real-time mapping data, whether a violation of the at least one safety rule is occurring; and generate one or more vehicle control commands for controlling at least one driving sub-system in case a violation of the safety rules is detected. process real-time sensory data, including scanned data output, and generate real-time mapping data, the real-time mapping data comprising information with respect to obstacles within a scanned area; receive real-time driving parameters; the sub-system is configured to: determine at least one safety rule value of at least one safety rule according to the real-time driving parameters, including yaw rate and speed of the autonomous vehicle; wherein the at least one safety rule includes information on a region of interest within the scanned area; wherein the at least one processing circuitry is configured for determining the at least one safety rule value to: adapt the size and shape of the region of interest based on the yaw rate, by creating an offset and increasing width of the region of interest toward an internal part of a turn, thereby increasing the size of an area of the region of interest in a direction of the turn and reducing the area of the region of interest in a direction opposite from the direction of the turn; determine, based on the real-time driving parameters and the real-time mapping data, whether a violation of the at least one safety rule is occurring; and generate one or more vehicle control commands for controlling at least one driving sub-system in case a violation of the safety rules is detected. determine at least one safety rule value of at least one safety rule according to the real-time driving parameters, including yaw rate and speed of the autonomous vehicle; wherein the at least one safety rule includes information on a region of interest within the scanned area; wherein the at least one processing circuitry is configured for determining the at least one safety rule value to: adapt the size and shape of the region of interest based on the yaw rate, by creating an offset and increasing width of the region of interest toward an internal part of a turn, thereby increasing the size of an area of the region of interest in a direction of the turn and reducing the area of the region of interest in a direction opposite from the direction of the turn; determine, based on the real-time driving parameters and the real-time mapping data, whether a violation of the at least one safety rule is occurring; and generate one or more vehicle control commands for controlling at least one driving sub-system in case a violation of the safety rules is detected.