Systems and methods relating to the operation of an autonomous vehicle relative to forward objects in an external environment are described. At least a forward portion of the external environment can be sensed to detect an object therein. A size adjustment factor can be determined to predict a laterally innermost point of the detected object relative to the autonomous vehicle. A driving maneuver for the autonomous vehicle can be determined based at least partially on the predicted laterally innermost point of the detected object relative to the autonomous vehicle.