METHOD OF AND SYSTEM FOR CONTROLLING OPERATION OF SELF-DRIVING CAR

Method and device for controlling operation of a Self-Driving Car. The method includes determining route-level and lane-level information for generating a graph-structure, applying a first model for assigning costs to respective edges, storing the edges with the costs and the vertices with the scores. The method also includes at a given moment in time during operation: acquiring a lane path indicative of a lane segment extending from the current location without a lane-changing manoeuvre. The method includes, for the lane path: identifying a series of vertices covered by the lane segment, applying a second model for assigning additional costs to lane-path-departing edges of the series of vertices thereby determining locally-increased costs, determining local scores for vertices in the series of vertices based on the locally-increased costs, and identifying a lane path score for the lane path based on the local scores.