SYSTEMS AND METHODS FOR NAVIGATING WITH SAFE DISTANCES

A method (5600) for navigating a host vehicle (5441;5442) in proximity to a pedestrian crosswalk (5451) is provided. The method includes receiving (5601), from an image capture device (5441;5442), at least one image representative of an environment of the host vehicle (5441;5442), detecting (5603), based on analysis of the at least one image, a representation of a pedestrian crosswalk (5451) in the at least one image, determining, based on the at least one image, navigational information relative to the environment of the host vehicle (5441;5442), wherein the navigational information comprises at least a state of one or more traffic lights; determining, based on the navigational information, a state of the detected pedestrian crosswalk (5451), wherein the state of the detected pedestrian crosswalk corresponds to whether a pedestrian may or may not enter the pedestrian crosswalk (5451), determining, based on at least one driving policy and the state of the detected pedestrian crosswalk (5451), a planned navigational action for causing the host vehicle to navigate relative to the state of the detected pedestrian crosswalk (5451); and causing (5615) one or more actuator systems of the host vehicle to implement the planned navigational action.