A method of maneuvering an autonomous vehicle, the method comprising: generating a nominal route (321, 500) from a start position of the autonomous vehicle toward a destination with reference to a road network map, wherein the nominal route (321, 500) comprises a plurality of consecutive lane segments (450, 451, 452, 453, 481, 511, 512, 513, 514, 515, 516, 517, 521, 522 523, 524, 525, 526, 527) from the start position to the destination; using the road network map to identify at least one connected lane segment corresponding to one or more of the plurality of consecutive lane segments (450, 451, 452, 453, 481, 511, 512, 513, 514, 515, 516, 517, 521, 522 523, 524, 525, 526, 527) to generate an expanded route representation; generating, from a local region (550, 560, 570) of the expanded route representation around the autonomous vehicle while travelling on the nominal route (321, 500), a multi-corridor representation that comprises a plurality of adjacent corridors (510, 520, 552, 554, 562, 564) each comprising a plurality of lane segments stitched together (553, 563); characterized in that each identified connected lane segment is either a neighboring lane segment in an adjacent lane of travel to the nominal route (321, 500) into which the autonomous vehicle can execute a lane change maneuver or a contingency lane segment (518, 519, 528, 529) on which the autonomous vehicle can travel upon missing a nominal route traversing maneuver without re-routing; and by generating a trajectory for the autonomous vehicle to traverse the local region (550, 560, 570) using the multi-corridor representation and perception data corresponding to the autonomous vehicle. generating a nominal route (321, 500) from a start position of the autonomous vehicle toward a destination with reference to a road network map, wherein the nominal route (321, 500) comprises a plurality of consecutive lane segments (450, 451, 452, 453, 481, 511, 512, 513, 514, 515, 516, 517, 521, 522 523, 524, 525, 526, 527) from the start position to the destination; using the road network map to identify at least one connected lane segment corresponding to one or more of the plurality of consecutive lane segments (450, 451, 452, 453, 481, 511, 512, 513, 514, 515, 516, 517, 521, 522 523, 524, 525, 526, 527) to generate an expanded route representation; generating, from a local region (550, 560, 570) of the expanded route representation around the autonomous vehicle while travelling on the nominal route (321, 500), a multi-corridor representation that comprises a plurality of adjacent corridors (510, 520, 552, 554, 562, 564) each comprising a plurality of lane segments stitched together (553, 563); characterized in that each identified connected lane segment is either a neighboring lane segment in an adjacent lane of travel to the nominal route (321, 500) into which the autonomous vehicle can execute a lane change maneuver or a contingency lane segment (518, 519, 528, 529) on which the autonomous vehicle can travel upon missing a nominal route traversing maneuver without re-routing; and by generating a trajectory for the autonomous vehicle to traverse the local region (550, 560, 570) using the multi-corridor representation and perception data corresponding to the autonomous vehicle.