A system and method for navigation of a host vehicle is provided. In some embodiments, the system receives at least one image representing the surroundings of the host vehicle from the image capture device; Determine a planned navigational motion to achieve a navigational purpose of the host vehicle in accordance with at least one driving policy; Analyzing the at least one image to identify a target vehicle within the host vehicle's surroundings; Test the scheduled navigation action against at least one accident liability rule to determine a potential accident liability of the host vehicle for the identified target vehicle; If a test of the scheduled navigation action against the at least one accident liability rule indicates that a potential accident responsibility exists to the host vehicle when the scheduled navigation action is taken, the host vehicle is prevented from executing the scheduled navigation action. ; At least one programmed to cause the host vehicle to execute the scheduled navigation action if the host vehicle does not have an accident responsibility when the scheduled navigation action is taken in a test of the scheduled navigation action against the at least one accident liability rule It may include a processing device.
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