Planning means for a sideways maneuver for an automated driving system

A system, apparatus and method for automated driving are disclosed. An exemplary method comprises: determining one or more possible lanes or pathways based on specific information about the vehicle surrounding environment and receiving an indication that one or more objects that are in the vicinity of the one or a plurality of possible travel paths, classified as an object of interest based on input received from one or more sensors arranged on the vehicle. The method further comprises: selecting a preferred travel path from the one or the plurality of candidate traveling routes based on characteristics of the one or more objects of interest and sending a command to one or more vehicle systems in order to control the vehicle such that it the preferred path follows.