Patent attributes
An autonomous vehicle may include a processor configured to execute instructions to identify, from vehicle transportation network information representing a vehicle transportation network, first and second location information representing a first and second location in the vehicle transportation network, and generate route information representing a route from the first location to the second location via the vehicle transportation network, wherein the route information includes first lane information indicating that the route includes a first lane of a road segment, wherein the vehicle transportation network information includes second lane information representing a second lane of the road segment and adjacent to the first lane, the route having a minimal expected cost among available candidate routes. The autonomous vehicle may include a trajectory controller configured to operate the autonomous vehicle to traverse the vehicle transportation network from the first location to the second location via the route based on the route information.
