Systems and methods are provided for autonomous vehicle navigation. The systems and methods may map a lane mark, may map a directional arrow, selectively harvest road information based on data quality, map road segment free spaces, map traffic lights and determine traffic light relevancy, and map traffic lights and associated traffic light cycle times.

A system for autonomous vehicle navigation. The system includes at least one processor programmed to: receive one or more images representative of an environment of a host vehicle; identify a representation or indicator of a traffic light in the images; and determine a state of the traffic light based on the analysis of the images. The one more process may also be programmed to receive an autonomous vehicle road navigation model including associations between traffic lights and trajectories collected from multiple vehicles The processor is also configured to make determinations of traffic lights state, relevancy of traffic lights to host vehicle trajectory, and navigation actions (in response to the determination of a traffic light being relevant). The system is also configured to cause one or more actuator systems associated with the host vehicle to implement determined navigational actions.