Abstract: A method and system for determining a route map and a route for a vehicle. Generating the route map comprises obtaining historical data comprising a plurality of data points for each of a plurality of vehicles from storage and determining a plurality of nodes each representing a subset of the data points. The historical data is applied to the plurality of nodes to determine the closest node for each vehicle. The nodes are ordered for each of the plurality of vehicles in the historical data by time; and a directed edge is generated between a first and second node of the plurality of ordered nodes, based on when the historical data indicates that a given vehicle has transited from the first node and the second node. A route is determined for the vehicle based on the generated route map and outputted route to a control system.