I have no knowledge of the true mechanism but as someone who drives a car where you can’t see the corners, but I still ‘know’ where they are, I suspect it may be an extension of the proprioception system. (Which is how your mind knows where your limbs are in space without seeing them etc.)
When doing tight manoeuvring or passing through a narrow gateway etc. I definitely have a mental image of where the vehicle’s extremities are and how much ‘gap’ is left.
The human brain is a bonkers machine!
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