1. A method of operating an autonomous vehicle relative to forward objects, the method comprising: sensing, using one or more sensors, a forward portion of the external environment of the autonomous vehicle to detect an object therein; determining, using one or more processors, a size adjustment factor to predict a laterally innermost point of the detected object relative to the autonomous vehicle; determining, using one or more processors, a driving maneuver for the autonomous vehicle based at least partially on the predicted laterally innermost point of the detected object relative to the autonomous vehicle; and causing the autonomous vehicle to implement the determined driving maneuver.