Determining routes for autonomous vehicles

A computing system, comprising:

• one or more processors programmed or configured to:
• receive request data associated with a request from a user device;
• determine a first canonical route from a plurality of canonical routes based on the request data, wherein each respective canonical route of the plurality of canonical routes satisfies at least one autonomy criteria associated with whether an autonomous vehicle can travel on the respective canonical route;
• provide first route data associated with the first canonical route;
• receive route identification data associated with identifying an alternative canonical route after providing the first route data associated with the first canonical route;
• determine a second canonical route from the plurality of canonical routes based on the route identification data;
• provide second route data associated with the second canonical route for controlling travel of the autonomous vehicle on the second canonical route;
• and
• control travel of the autonomous vehicle on the second canonical route based on the second route data.

An autonomous vehicle, comprising:

• one or more sensors for detecting an object in an environment surrounding the autonomous vehicle;
• and
• a vehicle computing system comprising one or more processors, wherein the vehicle computing system is programmed or configured to:
• receive request data associated with a request from a user device;
• determine a first canonical route from a plurality of canonical routes based on the request data, wherein each respective canonical route of the plurality of canonical routes satisfies at least one autonomy criteria associated with whether an autonomous vehicle can travel on the respective canonical route;
• provide first route data associated with the first canonical route;
• receive route identification data associated with identifying an alternative canonical route after providing the first route data associated with the first canonical route;
• determine a second canonical route from the plurality of canonical routes based on the route identification data;
• provide second route data associated with the second canonical route;
• and
• control travel of the autonomous vehicle on the second canonical route based on the second route data and sensor data from the one or more sensors.