A system for a vehicle, the system comprising: a memory; and at least one processor configured to: obtain a plurality of images of a forward-facing direction from the vehicle, the plurality of images acquired by one or more cameras; determine from the plurality of images a first lane marking on a first side of the vehicle, and a second lane marking on a second side of the vehicle, wherein the first and second lane markings define a lane of travel for the vehicle, and wherein the second side is opposite of the first side; navigate the vehicle autonomously relatively centered between the first and second lane markings (810, 820); determine from the plurality of images a presence of an object in the vicinity of the vehicle; determine for the object, an offset profile, wherein the offset profile includes a determination of whether in its current and predicted position the object will be within a predefined range of the vehicle; if it is determined that the object is or will be within a predefined range of the vehicle, determine that there is enough space between the first lane marking and the second lane marking for the vehicle to bypass the object; if it is determined that there is enough space, determine whether there is enough time to bypass the object before the distance between the vehicle and the object closes; and if it is determined that there is enough time, navigate the vehicle autonomously to travel over a driving path that is offset toward one side of the lane of travel without leaving the lane of travel. a memory; and at least one processor configured to: obtain a plurality of images of a forward-facing direction from the vehicle, the plurality of images acquired by one or more cameras; determine from the plurality of images a first lane marking on a first side of the vehicle, and a second lane marking on a second side of the vehicle, wherein the first and second lane markings define a lane of travel for the vehicle, and obtain a plurality of images of a forward-facing direction from the vehicle, the plurality of images acquired by one or more cameras; determine from the plurality of images a first lane marking on a first side of the vehicle, and a second lane marking on a second side of the vehicle, wherein the first and second lane markings define a lane of travel for the vehicle, and wherein the second side is opposite of the first side; navigate the vehicle autonomously relatively centered between the first and second lane markings (810, 820); determine from the plurality of images a presence of an object in the vicinity of the vehicle; determine for the object, an offset profile, wherein the offset profile includes a determination of whether in its current and predicted position the object will be within a predefined range of the vehicle; if it is determined that the object is or will be within a predefined range of the vehicle, determine that there is enough space between the first lane marking and the second lane marking for the vehicle to bypass the object; navigate the vehicle autonomously relatively centered between the first and second lane markings (810, 820); determine from the plurality of images a presence of an object in the vicinity of the vehicle; determine for the object, an offset profile, wherein the offset profile includes a determination of whether in its current and predicted position the object will be within a predefined range of the vehicle; if it is determined that the object is or will be within a predefined range of the vehicle, determine that there is enough space between the first lane marking and the second lane marking for the vehicle to bypass the object; if it is determined that there is enough space, determine whether there is enough time to bypass the object before the distance between the vehicle and the object closes; and if it is determined that there is enough time, navigate the vehicle autonomously to travel over a driving path that is offset toward one side of the lane of travel without leaving the lane of travel.