A computer-implemented method for navigating a host vehicle, the method comprising: receiving, from a camera, a plurality of images representative of an environment of the host vehicle; analyzing the plurality of images to identify a first flow of traffic comprising a first plurality of vehicles not including the host vehicle and a second flow of traffic comprising a second plurality of vehicles including the host vehicle; determining if the first and second flows of traffic slow down and/or stop in response to each other and/or that the first flow of traffic and the second flow of traffic merge in a general alternating pattern with one or more outliers, wherein said determination is based on traffic congestion and at least one lane merge condition identified in the plurality of images; if it is determined that the first and second flows of traffic slow down and/or stop in response to each other and/or that the first flow of traffic and the second flow of traffic merge in a general alternating pattern with one or more outliers: determining an order in which vehicles from the first and second flows of traffic should merge into a merged lane of traffic; utilizing the determined order in which vehicles from the first and second flows of traffic should merge to cause at least a first navigational change in the host vehicle to allow one target vehicle from the first flow of traffic to proceed ahead of the host vehicle; and utilizing the determined order in which vehicles from the first and second flows of traffic should merge to cause at least a second navigational change in the host vehicle to cause the host vehicle to follow the target vehicle into the merged lane ahead of a second target vehicle from the first flow of traffic. receiving, from a camera, a plurality of images representative of an environment of the host vehicle; analyzing the plurality of images to identify a first flow of traffic comprising a first plurality of vehicles not including the host vehicle and a second flow of traffic comprising a second plurality of vehicles including the host vehicle; determining if the first and second flows of traffic slow down and/or stop in response to each other and/or that the first flow of traffic and the second flow of traffic merge in a general alternating pattern with one or more outliers, wherein said determination is based on traffic congestion and at least one lane merge condition identified in the plurality of images; if it is determined that the first and second flows of traffic slow down and/or stop in response to each other and/or that the first flow of traffic and the second flow of traffic merge in a general alternating pattern with one or more outliers: determining an order in which vehicles from the first and second flows of traffic should merge into a merged lane of traffic; utilizing the determined order in which vehicles from the first and second flows of traffic should merge to cause at least a first navigational change in the host vehicle to allow one target vehicle from the first flow of traffic to proceed ahead of the host vehicle; and utilizing the determined order in which vehicles from the first and second flows of traffic should merge to cause at least a second navigational change in the host vehicle to cause the host vehicle to follow the target vehicle into the merged lane ahead of a second target vehicle from the first flow of traffic. determining an order in which vehicles from the first and second flows of traffic should merge into a merged lane of traffic; utilizing the determined order in which vehicles from the first and second flows of traffic should merge to cause at least a first navigational change in the host vehicle to allow one target vehicle from the first flow of traffic to proceed ahead of the host vehicle; and utilizing the determined order in which vehicles from the first and second flows of traffic should merge to cause at least a second navigational change in the host vehicle to cause the host vehicle to follow the target vehicle into the merged lane ahead of a second target vehicle from the first flow of traffic.