Systems and methods are provided for vehicle navigation. In one implementation, a system for navigating a vehicle may include at least one processor configured to receive a first image frame; detect in the first image frame a representation of a traffic light and determine a color state associated with lamps included on the traffic light. The at least one processor may receive an additional image frame includes a representation of the at least one traffic light; and determine, based on a comparison of the first image frame and the additional image frame, whether the at least one traffic light includes a blinking lamp. If the at least one traffic light includes a blinking lamp, the processor may cause the vehicle to implement a navigational action relative the traffic light in accordance with the determination and also based on a detected color state for the blinking lamp.