A method for determining safe navigation of an autonomous vehicle, the method comprising: determining, by an Electronic Control Unit, ECU, of the autonomous vehicle (303 1), a current location of the autonomous vehicle, at an instant of time, based on orientation and location information of the autonomous vehicle (303 1); determining, by the ECU, one or more pre-defined vehicle parameters and surrounding infrastructure data, wherein the surrounding infrastructure data comprises maximum deceleration of trailing and front vehicle, maximum acceleration of trailing and front vehicle, maximum speed difference between vehicles in front and rear, minimum headway distance between front and rear vehicle, time before lane change, collision time gain between front and rear vehicles and minimum lateral distance for overtaking vehicles; determining, by the ECU, traffic density at a current route of the autonomous vehicle (303 1) for a predefined time and distance from the current location of the autonomous vehicle, based on the surrounding infrastructure data for the current route and the current location of the autonomous vehicle (303 1); determining, by the ECU, traffic density at one or more alternate routes (2, 3) for a predefined time and distance from the current location of the autonomous vehicle (303 1), based on the surrounding infrastructure data for the one or more alternate routes; and selecting, by the ECU, an alternate route from the one or more alternate routes for navigating the autonomous vehicle (303 1) based on the one or more pre-defined vehicle parameters of the autonomous vehicle, the traffic density at the current route and the traffic density at the one or more alternate routes (2, 3) for safely navigating the autonomous vehicle (303 1). determining, by an Electronic Control Unit, ECU, of the autonomous vehicle (303 1), a current location of the autonomous vehicle, at an instant of time, based on orientation and location information of the autonomous vehicle (303 1); determining, by the ECU, one or more pre-defined vehicle parameters and surrounding infrastructure data, wherein the surrounding infrastructure data comprises maximum deceleration of trailing and front vehicle, maximum acceleration of trailing and front vehicle, maximum speed difference between vehicles in front and rear, minimum headway distance between front and rear vehicle, time before lane change, collision time gain between front and rear vehicles and minimum lateral distance for overtaking vehicles; determining, by the ECU, traffic density at a current route of the autonomous vehicle (303 1) for a predefined time and distance from the current location of the autonomous vehicle, based on the surrounding infrastructure data for the current route and the current location of the autonomous vehicle (303 1); determining, by the ECU, traffic density at one or more alternate routes (2, 3) for a predefined time and distance from the current location of the autonomous vehicle (303 1), based on the surrounding infrastructure data for the one or more alternate routes; and selecting, by the ECU, an alternate route from the one or more alternate routes for navigating the autonomous vehicle (303 1) based on the one or more pre-defined vehicle parameters of the autonomous vehicle, the traffic density at the current route and the traffic density at the one or more alternate routes (2, 3) for safely navigating the autonomous vehicle (303 1).