Abstract: Systems and methods for map simulation testing are provided. A method includes receiving, by a computer-implemented system, information associated with an operational design domain (ODD); generating, by the computer-implemented system based at least in part on the information associated with the ODD, a plurality of map test cases for a map representative of a geographical area in the ODD, where each map test case of the plurality of map test cases includes one of a plurality of paths in the geographical area; evaluating a vehicle planning process in navigating through one or more of the plurality of paths corresponding to one or more of the plurality of map test cases; and determining a metric for the map based on the evaluating.

Abstract: A method for providing a reference prior for a portion of a route to a planning stack of a vehicle. The method includes accessing manual driving data associated with the route portion, the manual driving data stored in a database; averaging the accessed manual driving data to determine a nominal path for the route portion; and providing the nominal path to the planning stack of the vehicle as the reference prior for the route portion, wherein the planning stack consumes the reference prior for planning maneuvers of the vehicle in traversing the route portion.