Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise an interface to obtain sensing data of an environment of the host vehicle. The processing device may be configured to determine a planned navigational action; identify, a target vehicle in the environment of the host vehicle; predict a distance between the host vehicle and the target vehicle if the planned navigational action was taken; determine a current host vehicle stopping distance based on a braking capability, acceleration capability, and speed of the host vehicle; determine a current target vehicle braking distance based on a speed and braking capability of the target vehicle; and implement the planned navigational action when the predicted distance of the planned navigational action is greater than a minimum safe longitudinal distance calculated based on the current host vehicle stopping distance and the current target vehicle braking distance.