A method of navigating a host vehicle along a roadway, the method comprising: receiving, by a host vehicle, from a server, map data comprising: a target trajectory for a vehicle to follow along a road segment of the roadway; and mapped lane marks (2470, 2480) including: a plurality of identifiers identifying types and/or characteristics of the mapped lane marks (2470, 2480); and a plurality of location identifiers (2471, 2481) identifying real-world co-ordinates of mapped points associated with the mapped lane marks (2470, 2480) along the road segment, wherein the location identifiers (2471, 2481) identify at least one of: comer points of dashed lane marks, or a centerline of a lane mark; obtaining images representative of an environment of a host vehicle, the host vehicle traveling on the roadway; detecting, in the images, a mark located on the roadway corresponding to a type and/or characteristic identified by the plurality of identifiers for one of the mapped lane marks (2470, 2480); identifying, in the images, points corresponding to the mapped points identified by location identifiers (2471, 2481) of the detected mark, the detected mark corresponding to one of the mapped lane marks (2470, 2480) in the map data received from the server, wherein the points are a series of corner points defining a full boundary of a dashed lane mark, or wherein the points are points of a centerline of a lane mark that are calculated based on reference points including corner points of the lane mark; determining, based on the identified points and the real-world co-ordinates of mapped points associated with the mapped lane marks, a position of the host vehicle relative to the detected mark; and determining an autonomous steering action for the host vehicle to navigate the host vehicle on the roadway, based on: the determined position of the host vehicle relative to the detected mark; and the target trajectory for the road segment of the roadway. receiving, by a host vehicle, from a server, map data comprising: a target trajectory for a vehicle to follow along a road segment of the roadway; and mapped lane marks (2470, 2480) including: a plurality of identifiers identifying types and/or characteristics of the mapped lane marks (2470, 2480); and a plurality of location identifiers (2471, 2481) identifying real-world co-ordinates of mapped points associated with the mapped lane marks (2470, 2480) along the road segment, wherein the location identifiers (2471, 2481) identify at least one of: comer points of dashed lane marks, or a centerline of a lane mark; a target trajectory for a vehicle to follow along a road segment of the roadway; and mapped lane marks (2470, 2480) including: a plurality of identifiers identifying types and/or characteristics of the mapped lane marks (2470, 2480); and a plurality of location identifiers (2471, 2481) identifying real-world co-ordinates of mapped points associated with the mapped lane marks (2470, 2480) along the road segment, wherein the location identifiers (2471, 2481) identify at least one of: comer points of dashed lane marks, or a centerline of a lane mark; a plurality of identifiers identifying types and/or characteristics of the mapped lane marks (2470, 2480); and a plurality of location identifiers (2471, 2481) identifying real-world co-ordinates of mapped points associated with the mapped lane marks (2470, 2480) along the road segment, wherein the location identifiers (2471, 2481) identify at least one of: comer points of dashed lane marks, or a centerline of a lane mark; obtaining images representative of an environment of a host vehicle, the host vehicle traveling on the roadway; detecting, in the images, a mark located on the roadway corresponding to a type and/or characteristic identified by the plurality of identifiers for one of the mapped lane marks (2470, 2480); identifying, in the images, points corresponding to the mapped points identified by location identifiers (2471, 2481) of the detected mark, the detected mark corresponding to one of the mapped lane marks (2470, 2480) in the map data received from the server, wherein the points are a series of corner points defining a full boundary of a dashed lane mark, or wherein the points are points of a centerline of a lane mark that are calculated based on reference points including corner points of the lane mark; determining, based on the identified points and the real-world co-ordinates of mapped points associated with the mapped lane marks, a position of the host vehicle relative to the detected mark; and determining an autonomous steering action for the host vehicle to navigate the host vehicle on the roadway, based on: the determined position of the host vehicle relative to the detected mark; and the target trajectory for the road segment of the roadway. the determined position of the host vehicle relative to the detected mark; and the target trajectory for the road segment of the roadway.