A method for object avoidance by an autonomous vehicle, or AV, comprising: identifying nearby objects to the AV; extracting a drivable area of the AV; cutting out, to obtain an initial adjusted drivable area, cutout portions of the drivable area, the cutout portions corresponding to nearby objects that are classified as static objects, wherein the cutting out comprises: dividing the drivable area into bins , each bin having longitudinal and lateral boundaries defined with respect to a longitudinal direction of travel of the AV; assigning boundary points corresponding to the static objects to respective bins based on a respective location of the each of the static objects determined using sensors of the AV; and for each bin that is assigned at least one of the boundary points , adjusting the lateral boundaries of the bin to exclude an area occupied by the at least one of the boundary points thereby defining a modified drivable area within the bin, wherein the excluded area constitutes a cutout portion ; identifying a first object along a coarse driveline of the initial adjusted drivable area of the AV, the first object being a nearby object that is classified as a dynamic object; receiving a predicted path of the first object; determining, based on the predicted path of the first object, an adjusted drivable area by: cutting out additional portions of the first adjusted drivable area based on the predicted path of the first object and using timing information regarding predicted future locations of the first object and calculated future locations of AV to obtain the adjusted drivable area; and determining a trajectory of the AV through the adjusted drivable area. identifying nearby objects to the AV; extracting a drivable area of the AV; cutting out, to obtain an initial adjusted drivable area, cutout portions of the drivable area, the cutout portions corresponding to nearby objects that are classified as static objects, wherein the cutting out comprises: dividing the drivable area into bins , each bin having longitudinal and lateral boundaries defined with respect to a longitudinal direction of travel of the AV; assigning boundary points corresponding to the static objects to respective bins based on a respective location of the each of the static objects determined using sensors of the AV; and for each bin that is assigned at least one of the boundary points , adjusting the lateral boundaries of the bin to exclude an area occupied by the at least one of the boundary points thereby defining a modified drivable area within the bin, wherein the excluded area constitutes a cutout portion ; dividing the drivable area into bins , each bin having longitudinal and lateral boundaries defined with respect to a longitudinal direction of travel of the AV; assigning boundary points corresponding to the static objects to respective bins based on a respective location of the each of the static objects determined using sensors of the AV; and for each bin that is assigned at least one of the boundary points , adjusting the lateral boundaries of the bin to exclude an area occupied by the at least one of the boundary points thereby defining a modified drivable area within the bin, wherein the excluded area constitutes a cutout portion ; identifying a first object along a coarse driveline of the initial adjusted drivable area of the AV, the first object being a nearby object that is classified as a dynamic object; receiving a predicted path of the first object; determining, based on the predicted path of the first object, an adjusted drivable area by: cutting out additional portions of the first adjusted drivable area based on the predicted path of the first object and using timing information regarding predicted future locations of the first object and calculated future locations of AV to obtain the adjusted drivable area; and determining a trajectory of the AV through the adjusted drivable area. <EOS>