Abstract: A system for generating map information for use in navigating a host vehicle may comprise at least one processor programmed to: receive drive information from each of a plurality of vehicles that traversed the road segment, wherein the drive information includes one or more indicators of a road topography feature and the drive information includes actual trajectory information; generate, based on the one or more indicators of the actual trajectory information, a map including at least a portion of a drivable path for the road segment; provide the map as input to at least one trained model configured to generate, in response to the provided input, an output including an updated map with at least one updated drivable path for the road segment; and provide the updated map to at least one host vehicle navigation system.