Method for operating a vehicle equipped with an automated driving system

A computing device for operating a vehicle equipped with an automated driving system (ADS) the computing device comprising control circuitry configured to:

• obtain a high definition (HD) map of a region based on a current position of the vehicle, the HD map comprising geometry data describing a geometry of a plurality of lane segments making up the road network within the region, wherein the HD map further comprises first lane connectivity data indicative of a first lane connectivity between the plurality of lane segments, derived at least partly based on the geometry data;
• obtain a lane connectivity layer associated with the region, wherein the lane connectivity layer comprises second lane connectivity data indicative of a second lane connectivity between at least a subset of the plurality of lane segments of areas in the region associated with one or more potential errors in the HD map;
• identify a mismatch between the first lane connectivity and the second lane connectivity in an area of the region, based on a comparison between the HD map and the lane connectivity layer;
• and
• in response to identifying the mismatch, perform path-planning for the ADS in the area based on the second lane connectivity of the second lane connectivity data in combination with at least a part of the HD map of the area.