A method for maneuvering a vehicle , the method comprising: defining, for an autonomous vehicle having one or more sensors, a first sensor range having a first associated confidence value, the first sensor range adjacent an outer bound of reach of the one or more sensors; defining a second sensor range , the second sensor range having a second associated confidence value that is higher than the first confidence value, the second sensor range being within the first sensor range and closer to the one or more sensors than the first sensor range; receiving, at one or more processors, input from the one or more sensors; detecting, by the one or more processors based on the input received from the one or more sensors, an object within the first sensor range of the vehicle; the method being characterised by : causing the vehicle to take a first, preliminary action in response to detecting the object within the first sensor range, prior to the object being detected within the second sensor range, wherein the first action comprises at least one of yielding, ceasing acceleration, decelerating, or switching lanes; subsequently detecting, by the one or more processors based on further input received from the one or more sensors, that the object has moved from the first sensor range into the second sensor range of the vehicle; and validating the detection of the object within the first sensor range based on the detection of the object within the second sensor range. defining, for an autonomous vehicle having one or more sensors, a first sensor range having a first associated confidence value, the first sensor range adjacent an outer bound of reach of the one or more sensors; defining a second sensor range , the second sensor range having a second associated confidence value that is higher than the first confidence value, the second sensor range being within the first sensor range and closer to the one or more sensors than the first sensor range; receiving, at one or more processors, input from the one or more sensors; detecting, by the one or more processors based on the input received from the one or more sensors, an object within the first sensor range of the vehicle; the method being characterised by : causing the vehicle to take a first, preliminary action in response to detecting the object within the first sensor range, prior to the object being detected within the second sensor range, wherein the first action comprises at least one of yielding, ceasing acceleration, decelerating, or switching lanes; subsequently detecting, by the one or more processors based on further input received from the one or more sensors, that the object has moved from the first sensor range into the second sensor range of the vehicle; and validating the detection of the object within the first sensor range based on the detection of the object within the second sensor range. causing the vehicle to take a first, preliminary action in response to detecting the object within the first sensor range, prior to the object being detected within the second sensor range, wherein the first action comprises at least one of yielding, ceasing acceleration, decelerating, or switching lanes; subsequently detecting, by the one or more processors based on further input received from the one or more sensors, that the object has moved from the first sensor range into the second sensor range of the vehicle; and validating the detection of the object within the first sensor range based on the detection of the object within the second sensor range. <EOS>