Navigation based on detected size of occlusion zones

A navigation system for a host vehicle is provided. The system may comprise at least one processing device programmed to receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify at least one vehicle-induced occlusion zone in an environment of the host vehicle; and cause a navigational change for the host vehicle based, at least in part, on a size of a target vehicle that induces the identified occlusion zone.