Mapped driving paths for autonomous vehicle

A computing system comprising:

• one or more processors configured to perform operations comprising:
• receiving map data associated with a map of a geographic location, wherein the map data is associated with a roadway in the geographic location;
• determining a driving path including one or more trajectories for an AV in the roadway based on one or more traversals of the roadway by one or more vehicles;
• selecting an interval for the driving path, the interval comprising a first set of trajectory points from a first trajectory of the one or more trajectories;
• determining a lateral region of the roadway, the lateral region projecting laterally from the first set of trajectory points;
• determining, using the map data, feature information describing at least one feature of the roadway that is positioned in the lateral region;
• determine a lateral constraint based on at least a lateral distance of the at least one feature of the roadway from the first trajectory, the lateral constraint associated with at least one lateral movement of the AV traversing the driving path on the roadway;
• and
• providing driving path data associated with the driving path to the AV for controlling the AV on the roadway, the driving path data describing the lateral constraint.

An autonomous vehicle (AV) comprising:

• a vehicle computing system comprising one or more processors, wherein the vehicle computing system is configured to perform operations comprising:
• receiving map data associated with a map of a geographic location, wherein the map data is associated with a roadway in the geographic location;
• determining a driving path including one or more trajectories for an AV in the roadway based on one or more traversals of the roadway by one or more vehicles;
• selecting an interval for the driving path, the interval comprising a first set of trajectory points from a first trajectory of the one or more trajectories;
• determining a lateral region of the roadway, the lateral region projecting laterally from the first set of trajectory points;
• determining, using the map data, feature information describing at least one feature of the roadway that is positioned in the lateral region;
• determine a lateral constraint based on at least a lateral distance of the at least one feature of the roadway from the first trajectory, the lateral constraint associated with at least one lateral movement of the AV traversing the driving path on the roadway;
• and
• providing driving path data associated with the driving path to the AV for controlling the AV on the roadway, the driving path data describing the lateral constraint.