Patent ID: 9404761
Filing Date: 2016-08-02
CPC Classification: G01C,G05D

Claim Text:
1. An autonomous vehicle comprising: a processor configured to execute instructions stored on a non-transitory computer readable medium to: identify vehicle transportation network information, the vehicle transportation network information including road segment information representing a plurality of road segments, the road segment information including lane information representing at least one lane for each respective road segment, wherein the road segment information for at least one road segment from the plurality of road segments includes lane information representing at least two adjacent lanes, identify an origin, identify a destination, generate a plurality of candidate routes from the origin to the destination based on the transportation network information, wherein each route from the plurality of routes indicates a distinct combination of road segments and lanes, and wherein at least one candidate route from the plurality of candidate routes includes at least one of the adjacent lanes, and identify an optimal route from the plurality of candidate routes, the optimal route having a minimal route cost; and a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the destination using the optimal route.