Abstract: Techniques for navigating proximate a double-parked vehicle (“DPV”) are described herein. A vehicle may receive sensor data of the environment. The vehicle may analyze the sensor data to determine that a DPV is located within a laterally adjacent, oncoming traffic driving lane. The vehicle may generate a heatmap based on the attributes of the DPV and use the heatmap to determine the cost of following one or more candidate actions. For example, the vehicle may generate candidate action(s) for the vehicle to follow. The cost may be determined, for a state of the vehicle along a candidate action, based on the amount (or fraction) of the vehicle within the heatmap and the weight of the heatmap. Upon determining the cost(s) for the candidate actions, the vehicle may use such data to determine a control trajectory for the vehicle to follow.