A system and method for navigating a vehicle with respect to an object is disclosed. The system includes a transmitter for transmitting a source signal, a receiver for receiving an echo signal that is a reflection of the source signal from the object, and a processor. A parameter of the object is obtained at a radar system and an avoidance criterion is selected for the object. The processor determines a boundary of the object for the parameter of the object and the selected avoidance criterion and the vehicle is navigated in order to avoid the object based on the determined boundary.