A computer-implemented method of generating control data for controlling operation of a Self-Driving Car, the SDC travelling on a road segment, the road segment having a lane, the method executable by an electronic device coupled with the SDC, the method comprising: • acquiring, by the electronic device, a predicted object trajectory associated with an object on the road segment, the predicted object trajectory being based on movement data of the object; • acquiring, by the electronic device, a set of anchor points along the lane, the set of anchor points being representative of a default vehicle path of the SDC along the lane, a given one of the set of anchor points being indicative of a potential future position of the SDC along the default vehicle path; • for each one of the set of anchor points, determining, by the electronic device, a series of future moments in time when the SDC is potentially located at the respective future position of the respective one of the set of anchor points, thereby generating a matrix structure including future position-time pairs for the SDC, a given future position-time pair being indicative of when and where the SDC will potentially be located in the future along the default vehicle path; • for each future position-time pair in the matrix structure, using, by the electronic device, the predicted object trajectory for determining a distance between a closest object to the SDC as if the SDC is located at the respective future position-time pair; • storing, by the electronic device in a memory, the distance between the closest object to the SDC in association with the respective future position-time pair in the matrix structure, the distance stored in the matrix structure for the respective future position-time pair being representative of a safety corridor for the SDC if the SDC is located at the respective future position-time pair. • acquiring, by the electronic device, a predicted object trajectory associated with an object on the road segment, the predicted object trajectory being based on movement data of the object; • acquiring, by the electronic device, a set of anchor points along the lane, the set of anchor points being representative of a default vehicle path of the SDC along the lane, a given one of the set of anchor points being indicative of a potential future position of the SDC along the default vehicle path; • for each one of the set of anchor points, determining, by the electronic device, a series of future moments in time when the SDC is potentially located at the respective future position of the respective one of the set of anchor points, thereby generating a matrix structure including future position-time pairs for the SDC, a given future position-time pair being indicative of when and where the SDC will potentially be located in the future along the default vehicle path; • for each future position-time pair in the matrix structure, using, by the electronic device, the predicted object trajectory for determining a distance between a closest object to the SDC as if the SDC is located at the respective future position-time pair; • storing, by the electronic device in a memory, the distance between the closest object to the SDC in association with the respective future position-time pair in the matrix structure, the distance stored in the matrix structure for the respective future position-time pair being representative of a safety corridor for the SDC if the SDC is located at the respective future position-time pair.