Computer-implemented methods and systems for estimating liability for a vehicle accident are provided. In one embodiment, at least one stopping distance of a vehicle may be estimated. In some embodiments, a stopping distance may include an approximate distance for the vehicle traveling at a specified speed to stop to avoid the accident. A perception distance that may correspond to an approximate distance from the accident at which the vehicle sensed danger of an accident may be estimated. In certain embodiments, an opportunity of the vehicle to avoid the accident using the perception distance may be assessed. Some embodiments may include estimating an effect on liability based on the opportunity to avoid the accident.