US Patent 11781881 Methods and apparatus of vehicle guidance

The present disclosure relates to an apparatus and method for vehicle guidance. In an embodiment, the present disclosure relates to a method of vehicle guidance including determining a current lane-level position of a vehicle, comparing the determined current lane-level position of the vehicle to an anticipated lane-level position of the vehicle, the anticipated lane-level position of the vehicle corresponding to a lane-level position of the vehicle within a predetermined route of the vehicle, receiving, based upon the comparison, an input regarding an intended route of the vehicle, and generating, via processing circuitry, guidance information based on the received input regarding the intended route of the vehicle, wherein the receiving the input regarding the intended route of the vehicle includes determining alternate routes between a current position of the vehicle and a destination of the vehicle based on the determined current lane-level position of the vehicle.