Systems and methods navigate a vehicle on a road at least partially covered with snow. In one implementation, a system may include at least one processor programmed to receive from an image capture device, a plurality of images captured of an environment forward of the vehicle, including an area where snow covers a road on which the vehicle travels, analyze at least one of the plurality of images to identify a first free space boundary on a first side of the vehicle and extending forward of the vehicle, a second free space boundary on a passenger side of the vehicle and extending forward of the vehicle, and a forward free space boundary forward of the vehicle and extending between the first free space boundary and the second free space boundary.