A system for mapping lane splits for use in vehicle navigation, the system comprising: at least one processor programmed to: receive first navigational information from a first vehicle that has navigated along a road segment, wherein the road segment includes a lane split feature, and wherein the road segment includes at least a first travel lane prior to the lane split feature that transitions into at least a second travel lane and a third travel lane after the lane split feature; receive second navigational information from a second vehicle that has navigated along the road segment; receive at least one image associated with the road segment, wherein the at least one image is captured via an image capture device of the first or the second vehicle; determine, from the first navigational information, a first actual trajectory of the first vehicle along the first travel lane and the second travel lane of the road segment; determine, from the second navigational information, a second actual trajectory of the second vehicle along the first travel lane and the third travel lane of the road segment, wherein the first navigational information comprises location identifiers recorded by the first vehicle while traversing the road segment and the second navigational information comprises location identifiers recorded by the second vehicle while traversing the road segment; determine a divergence between the first actual trajectory and the second actual trajectory; determine, based on analysis of the at least one image, that the divergence between the first actual trajectory and the second actual trajectory is indicative of a presence in the road segment of the lane split feature; and update a vehicle road navigation model to include a first target trajectory corresponding to the first travel lane prior to the road split feature and extending along the second travel lane after the lane split feature; and a second target trajectory that branches from the first target trajectory and extends along the third travel lane after the lane split feature. receive first navigational information from a first vehicle that has navigated along a road segment, wherein the road segment includes a lane split feature, and wherein the road segment includes at least a first travel lane prior to the lane split feature that transitions into at least a second travel lane and a third travel lane after the lane split feature; receive second navigational information from a second vehicle that has navigated along the road segment; receive at least one image associated with the road segment, wherein the at least one image is captured via an image capture device of the first or the second vehicle; determine, from the first navigational information, a first actual trajectory of the first vehicle along the first travel lane and the second travel lane of the road segment; determine, from the second navigational information, a second actual trajectory of the second vehicle along the first travel lane and the third travel lane of the road segment, wherein the first navigational information comprises location identifiers recorded by the first vehicle while traversing the road segment and the second navigational information comprises location identifiers recorded by the second vehicle while traversing the road segment; determine a divergence between the first actual trajectory and the second actual trajectory; determine, based on analysis of the at least one image, that the divergence between the first actual trajectory and the second actual trajectory is indicative of a presence in the road segment of the lane split feature; and update a vehicle road navigation model to include a first target trajectory corresponding to the first travel lane prior to the road split feature and extending along the second travel lane after the lane split feature; and a second target trajectory that branches from the first target trajectory and extends along the third travel lane after the lane split feature. a first target trajectory corresponding to the first travel lane prior to the road split feature and extending along the second travel lane after the lane split feature; and a second target trajectory that branches from the first target trajectory and extends along the third travel lane after the lane split feature.