Detailed map format for autonomous driving

An autonomous vehicle system comprising:

• a processing unit;
• a memory communicatively coupled to the processing unit, the memory including a computer-readable map format, the map format including a lane segment and a border segment, the border segment being formed from a plurality of borderpoints, wherein information is associated with one or more of the plurality of borderpoints, the information including a geographical location, a border type, and a border color;
• and
• one or more vehicle communicatively coupled to the processing unit,
• the processing unit being configured to:
• compare a current location of an autonomous vehicle to the map format;
• determine, using the map format, a distance between the current location of the autonomous vehicle and an edge of the lane segment at a location along the lane segment, the determining including measuring a distance between the current location of the autonomous vehicle and a portion of the border segment closest to the current location of the autonomous vehicle;
• determine a driving maneuver based on the determined distance, the driving maneuver being a driving maneuver affecting the movement of the autonomous vehicle;
• and
• cause one or more vehicle systems to implement the determined driving maneuver, whereby movement of the autonomous vehicle is affected by the implemented driving maneuver.