Abstract: Provided are methods for travel path determination, which can include obtaining mapping data characterizing an environment, the mapping data indicating mapping data indicating boundaries of a first road lane in the environment; identifying a portion of the first road lane as a narrowed road lane, the narrowed road lane having a reduced width in at least a portion of the narrowed road lane compared to a width of the first road lane; evaluating a plurality of candidate travel paths in a search space that includes the narrowed road lane and excludes at least a portion of the first road lane that is not included in the narrowed road lane; and determining a particular travel path for a vehicle through the narrowed road lane based on the evaluation of the plurality of candidate travel paths. The plurality of candidate travel paths include the particular travel path.

Abstract: The subject matter described in this specification is directed to a computer system and techniques for determining a location of an autonomous vehicle. The computer system is configured to determine the location using localization data from multiple data sources. When the localization data from the multiple data sources is unavailable or inaccurate, the computer system is configured to determine the location using predefined features of the environment.

Abstract: The subject matter described in this specification is directed to a computer system and techniques for determining a location of an autonomous vehicle. The computer system is configured to determine the location using localization data from multiple data sources. When the localization data from the multiple data sources is unavailable or inaccurate, the computer system is configured to determine the location using predefined features of the environment.