Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system for navigating a host vehicle based on detecting a door opening event may include at least one processing device. The processing device may be programmed to receive at least one image associated with the environment of the host vehicle, analyze the at least one image to identify a side of a parked vehicle, identify a first structural feature of the parked vehicle and a second structural feature of the parked vehicle, identify a door edge of the parked vehicle in a vicinity of the first and second structural features, determine a change of an image characteristic of the door edge of the parked vehicle, and alter a navigational path of the host vehicle based at least in part on the change of the image characteristic of the door edge of the parked vehicle.