Determining right of way

One or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause one or more processors to perform operations comprising:

• receiving map data representing an intersection in an environment, wherein the intersection comprises an inbound lane and an outbound lane;
• determining, based at least in part on the inbound lane and the outbound lane, a first route through the intersection, the first route associated with a first priority;
• determining, based on the map data, a second route through the intersection;
• determining a number of times that the second route intersects the first route;
• determining, based at least in part on the number of times, a second priority associated with the second route;
• and
• storing, in a data structure, an association between the first route, the second route, the first priority, and the second priority.

A method comprising:

• receiving map data representing an intersection in an environment, wherein the intersection comprises an inbound lane and an outbound lane;
• determining, based at least in part on the inbound lane and the outbound lane, a first route through the intersection, the first route associated with a first priority;
• determining, based on the map data, a second route through the intersection;
• determining a number of times that the second route intersects the first route;
• determining, based at least in part on the number of times, a second priority associated with the second route;
• and
• storing, in a data structure, an association between the first route, the second route, the first priority, and the second priority.