Abstract: A system for providing map data to a vehicle includes a map relative pose dependent server that is responsive to map requests from an API. The server generates submaps from static map data based on pose and/or route information for the vehicle, and sensors provide environmental data that is converted into perceived local map data by generating a perceived lane graph from lanes detected by the sensors. A multiplexer enables selection of the generated submaps and/or the perceived maps in response to a map request. The multiplexer compares the generated submaps and the perceived map in response to a map request and provides the perceived map when the generated submaps do not match the perceived map. The multiplexer also may merge the generated submaps and the perceived lane graph in response to the map request.