Voice controlled autonomous driving system

A voice controlled autonomous driving system for determining a trajectory of a vehicle based on a voice command includes one or more controllers executing instructions to receive an electrical signal representative of the voice command, where the voice command indicates a driving maneuver. The controllers convert the electrical signal into a text-based command, classify the text-based command into one of a plurality of pre-compiled driving maneuvers based on one or more machine learning algorithms, and classify the pre-compiled driving maneuver as either a route-based maneuver or a behavior-based maneuver, and in response to determining the precompiled driving maneuver is a route-based driving maneuver, identify one or more relevant lane segments of the map data affected by the pre-compiled driving maneuver and determine an updated route plan by updating a current route plan the vehicle is presently following to include the one or more relevant lane segments.