A method for navigating a host vehicle , the method comprising: receiving , from an image capture device , at least one image representative of an environment of the host vehicle ; determining , based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle ; analyzing the at least one image to identify a target vehicle in the environment of the host vehicle ; determining a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determining a maximum yaw rate capability of the host vehicle , a maximum change in turn radius capability of the host vehicle , and a current lateral speed of the host vehicle ; determining a lateral braking distance for the host vehicle based on the maximum yaw rate capability of the host vehicle , the maximum change in turn radius capability of the host vehicle , and the current lateral speed of the host vehicle ; determining a current lateral speed of the target vehicle , a target vehicle maximum yaw rate capability, and a target vehicle maximum change in turn radius capability; determining a lateral braking distance for the target vehicle based on the current lateral speed of the target vehicle , the target vehicle maximum yaw rate capability, and the target vehicle maximum change in turn radius capability; and implementing the planned navigational action if the determined next-state lateral distance is greater than a sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle . receiving , from an image capture device , at least one image representative of an environment of the host vehicle ; determining , based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle ; analyzing the at least one image to identify a target vehicle in the environment of the host vehicle ; determining a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determining a maximum yaw rate capability of the host vehicle , a maximum change in turn radius capability of the host vehicle , and a current lateral speed of the host vehicle ; determining a lateral braking distance for the host vehicle based on the maximum yaw rate capability of the host vehicle , the maximum change in turn radius capability of the host vehicle , and the current lateral speed of the host vehicle ; determining a current lateral speed of the target vehicle , a target vehicle maximum yaw rate capability, and a target vehicle maximum change in turn radius capability; determining a lateral braking distance for the target vehicle based on the current lateral speed of the target vehicle , the target vehicle maximum yaw rate capability, and the target vehicle maximum change in turn radius capability; and implementing the planned navigational action if the determined next-state lateral distance is greater than a sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle . <EOS>