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BACKGROUND [0001] The operation of modern vehicles is becoming increasingly autonomous, causing a decrease in driver inter vention. A control feature of such modern vehicles may cause the vehicle to drive in the center of a lane regardless of the existence of objects to the left or right of the lane. One example of such an object may be a vehicle parked at the side of the road, although outside of the lane. For the vehicle to remain at the center of the lane, the vehicle may pass the object closely. SUMMARY [0002] In one, non-limiting, exemplary embodiment of the present disclosure, a system for semi-autonomous or autono mous operation of a host vehicle includes an object detector and a controller. The object detector is configured to detect an object proximate to a lane boundary and output an object signal. The controller is configured to process the object signal and direct the host vehicle away from the lane …