US Patent 9921585 Detailed map format for autonomous driving

A computer-readable detailed map format is disclosed. The map format can be used in the operation of an autonomous vehicle. The detailed map format includes a plurality of lane segments and a plurality of lane links. Each of the lane links can extend between two lane segments across a traffic intersection. Each of the lane links can also be associated with one of a plurality of traffic signals. A transition rule is associated with a first lane link and based on information associated with the one of the plurality of traffic signals associated with the first lane link. An interlock rule can be based on information associated with the one of the plurality of traffic signals associated with a second lane link. The first lane link and second lane link can be associated with different traffic signals and can extend between different lane segments across the traffic intersection.