US Patent 9470536 Apparatus and associated methods for navigation of road intersections

An apparatus comprising a processor and memory including computer program code, the memory and computer program code configured to, with the processor, enable the apparatus at least to:identify, for use in route navigation, a complete set of lane traversals for a road intersection from two or more different complete sets of lane traversals for the road intersection based on respective safety-traffic flow scores assigned according to one or more predefined safety-traffic flow criteria,wherein each lane traversal defines a path of travel from an inbound lane of the road intersection to an outbound lane of the road intersection, andwherein each different complete set of lane traversals comprises a different combination of lane traversals for the road intersection.