A method comprising: receiving, from a standard-definition map database, a navigation route for a host vehicle, the navigation route including a list of waypoints, the list of waypoints including a start waypoint, intermediate waypoints, and a finish waypoint; responsive to receiving the navigation route, matching the list of waypoints to lane geometry data maintained in a high-definition map database by: identifying a finish road segment in the HD map database that contains coordinates of a first respective waypoint, the first respective waypoint comprising the finish waypoint or a first other waypoint among the list of waypoints; identifying a start road segment in the HD map data database that contains coordinates of a second respective waypoint, the second respective waypoint comprising the start waypoint or a second other waypoint among the list of waypoints; interpolating the list of waypoints between the start road segment and the finish road segment to generate a dense set of waypoints, the dense set of waypoints including the list of waypoints and additional waypoints; for road segments within the HD map database between the start road segment and the finish road segment, determining candidate road segments by identifying one or more waypoints within the dense set of waypoints geometrically contained within each candidate road segment, the candidate road segments including candidate lane segment groups and candidate lane segments within each candidate lane segment group; and creating a HD navigation route that includes path lane segments between the start road segment and the finish road segment, the HD navigation route including the list of waypoints, additional waypoints, and the lane geometry data; outputting, to a vehicle controller, the HD navigation route; and operating, with the vehicle controller, the host vehicle in a roadway environment along the HD navigation route. receiving, from a standard-definition map database, a navigation route for a host vehicle, the navigation route including a list of waypoints, the list of waypoints including a start waypoint, intermediate waypoints, and a finish waypoint; responsive to receiving the navigation route, matching the list of waypoints to lane geometry data maintained in a high-definition map database by: identifying a finish road segment in the HD map database that contains coordinates of a first respective waypoint, the first respective waypoint comprising the finish waypoint or a first other waypoint among the list of waypoints; identifying a start road segment in the HD map data database that contains coordinates of a second respective waypoint, the second respective waypoint comprising the start waypoint or a second other waypoint among the list of waypoints; interpolating the list of waypoints between the start road segment and the finish road segment to generate a dense set of waypoints, the dense set of waypoints including the list of waypoints and additional waypoints; for road segments within the HD map database between the start road segment and the finish road segment, determining candidate road segments by identifying one or more waypoints within the dense set of waypoints geometrically contained within each candidate road segment, the candidate road segments including candidate lane segment groups and candidate lane segments within each candidate lane segment group; and creating a HD navigation route that includes path lane segments between the start road segment and the finish road segment, the HD navigation route including the list of waypoints, additional waypoints, and the lane geometry data; identifying a finish road segment in the HD map database that contains coordinates of a first respective waypoint, the first respective waypoint comprising the finish waypoint or a first other waypoint among the list of waypoints; identifying a start road segment in the HD map data database that contains coordinates of a second respective waypoint, the second respective waypoint comprising the start waypoint or a second other waypoint among the list of waypoints; interpolating the list of waypoints between the start road segment and the finish road segment to generate a dense set of waypoints, the dense set of waypoints including the list of waypoints and additional waypoints; for road segments within the HD map database between the start road segment and the finish road segment, determining candidate road segments by identifying one or more waypoints within the dense set of waypoints geometrically contained within each candidate road segment, the candidate road segments including candidate lane segment groups and candidate lane segments within each candidate lane segment group; and creating a HD navigation route that includes path lane segments between the start road segment and the finish road segment, the HD navigation route including the list of waypoints, additional waypoints, and the lane geometry data; outputting, to a vehicle controller, the HD navigation route; and operating, with the vehicle controller, the host vehicle in a roadway environment along the HD navigation route.