A processor-implemented method for maneuvering a vehicle, the method comprising: generating a route for a trip from a first location to a destination using map information, the map information including roadway segments defining the shape and location of roadways, the map information also identifying at least one no-go roadway segment defining roadway segments where the vehicle is not able to drive in an autonomous mode; identifying, from the map information, a set of no-go roadway segments relevant to the route from the plurality of no-go roadway segments; periodically determining, as the vehicle is navigated to the destination, a local region around a current location of the vehicle, the local region corresponding to all areas that the vehicle could possibly reach within a predetermined period of time; following determination of each local region: identifying a local map region including roadway segments of the map information that correspond to locations within the local region; filtering the set of the plurality of no-go roadway segments from the roadway segments of the local map region; assigning a cost value to each roadway segment of the filtered roadway segments of the local map region; determining cost values for maneuvering the vehicle to roadway segments at the edge of the local region; and determining cost values of going from the roadway segments at the edge of the local region to the destination; using the cost values for maneuvering the vehicle to roadway segments at the edge of the local region and the cost values of going from the roadway segments at the edge of the local region to the destination to determine a plan for maneuvering the vehicle; and maneuvering the vehicle according to the plan. generating a route for a trip from a first location to a destination using map information, the map information including roadway segments defining the shape and location of roadways, the map information also identifying at least one no-go roadway segment defining roadway segments where the vehicle is not able to drive in an autonomous mode; identifying, from the map information, a set of no-go roadway segments relevant to the route from the plurality of no-go roadway segments; periodically determining, as the vehicle is navigated to the destination, a local region around a current location of the vehicle, the local region corresponding to all areas that the vehicle could possibly reach within a predetermined period of time; following determination of each local region: identifying a local map region including roadway segments of the map information that correspond to locations within the local region; filtering the set of the plurality of no-go roadway segments from the roadway segments of the local map region; assigning a cost value to each roadway segment of the filtered roadway segments of the local map region; determining cost values for maneuvering the vehicle to roadway segments at the edge of the local region; and determining cost values of going from the roadway segments at the edge of the local region to the destination; using the cost values for maneuvering the vehicle to roadway segments at the edge of the local region and the cost values of going from the roadway segments at the edge of the local region to the destination to determine a plan for maneuvering the vehicle; and maneuvering the vehicle according to the plan. identifying a local map region including roadway segments of the map information that correspond to locations within the local region; filtering the set of the plurality of no-go roadway segments from the roadway segments of the local map region; assigning a cost value to each roadway segment of the filtered roadway segments of the local map region; determining cost values for maneuvering the vehicle to roadway segments at the edge of the local region; and determining cost values of going from the roadway segments at the edge of the local region to the destination; using the cost values for maneuvering the vehicle to roadway segments at the edge of the local region and the cost values of going from the roadway segments at the edge of the local region to the destination to determine a plan for maneuvering the vehicle; and maneuvering the vehicle according to the plan.