A driving system for navigating a host vehicle, the system comprising: an interface to obtain image data of an environment in a vicinity of the host vehicle, the image data captured from at least image capture device of the host vehicle; and at least one processing device configured to: determine a planned navigational action for accomplishing a navigational goal of the host vehicle; identify, from the image data, a target vehicle in the environment of the host vehicle; predict a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a braking rate of the host vehicle, a maximum acceleration capability of the host vehicle, and a current longitudinal speed of the host vehicle; determine a host vehicle stopping distance to bring the host vehicle to a stop, based on the determined braking rate of the host vehicle, the maximum acceleration capability of the host vehicle, and the current longitudinal speed of the host vehicle, the determined braking rate of the host vehicle being a submaximal braking rate that is less than a maximum braking capability of the host vehicle; determine a braking rate of the target vehicle and a current longitudinal speed of the target vehicle; determine a target vehicle stopping distance to bring the target vehicle to a stop, based on the determined braking rate of the target vehicle and the current longitudinal speed of the target vehicle; and cause the host vehicle to continue with the planned navigational action while the predicted distance of the planned navigational action is greater than a minimum safe longitudinal distance, the minimum safe longitudinal distance being calculated based on the host vehicle stopping distance and the target vehicle stopping distance. an interface to obtain image data of an environment in a vicinity of the host vehicle, the image data captured from at least image capture device of the host vehicle; and at least one processing device configured to: determine a planned navigational action for accomplishing a navigational goal of the host vehicle; identify, from the image data, a target vehicle in the environment of the host vehicle; predict a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a braking rate of the host vehicle, a maximum acceleration capability of the host vehicle, and a current longitudinal speed of the host vehicle; determine a host vehicle stopping distance to bring the host vehicle to a stop, based on the determined braking rate of the host vehicle, the maximum acceleration capability of the host vehicle, and the current longitudinal speed of the host vehicle, the determined braking rate of the host vehicle being a submaximal braking rate that is less than a maximum braking capability of the host vehicle; determine a braking rate of the target vehicle and a current longitudinal speed of the target vehicle; determine a target vehicle stopping distance to bring the target vehicle to a stop, based on the determined braking rate of the target vehicle and the current longitudinal speed of the target vehicle; and cause the host vehicle to continue with the planned navigational action while the predicted distance of the planned navigational action is greater than a minimum safe longitudinal distance, the minimum safe longitudinal distance being calculated based on the host vehicle stopping distance and the target vehicle stopping distance. determine a planned navigational action for accomplishing a navigational goal of the host vehicle; identify, from the image data, a target vehicle in the environment of the host vehicle; predict a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a braking rate of the host vehicle, a maximum acceleration capability of the host vehicle, and a current longitudinal speed of the host vehicle; determine a host vehicle stopping distance to bring the host vehicle to a stop, based on the determined braking rate of the host vehicle, the maximum acceleration capability of the host vehicle, and the current longitudinal speed of the host vehicle, the determined braking rate of the host vehicle being a submaximal braking rate that is less than a maximum braking capability of the host vehicle; determine a braking rate of the target vehicle and a current longitudinal speed of the target vehicle; determine a target vehicle stopping distance to bring the target vehicle to a stop, based on the determined braking rate of the target vehicle and the current longitudinal speed of the target vehicle; and cause the host vehicle to continue with the planned navigational action while the predicted distance of the planned navigational action is greater than a minimum safe longitudinal distance, the minimum safe longitudinal distance being calculated based on the host vehicle stopping distance and the target vehicle stopping distance.