Systems, methods, and non-transitory computer-readable media can determine contextual information describing at least one physical structure corresponding to a location based at least in part on data captured by one or more sensors of a vehicle. A set of candidate interaction points for the at least one physical structure can be determined based at least in part on the determined contextual information describing the at least one physical structure corresponding to the location. The set of candidate interaction points can be filtered to identify one or more interaction points. An interaction point can be selected from the one or more interaction points to use for stopping the vehicle.