ROUTE NAVIGATION

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to generate a corridor defining a geometric area surrounding a road-level navigation route for a vehicle; apply the corridor to a lane-level map, the lane-level map including a plurality of lane segments, each lane segment defining a lane of a road from one endpoint to another endpoint; populate a lane-segment set with a subset of the lane segments from the lane-level map based on the application of the corridor to the lane-level map; and determine a lane-level navigation route based on the lane-segment set, the lane-level navigation route following the road-level navigation route.