1. A method of operating an autonomous vehicle, the method comprising: determining a current location of the autonomous vehicle; comparing the current location of the autonomous vehicle to a computer readable map format, the map format including a lane segment and a border segment; determining a distance between the current location of the autonomous vehicle and an edge of the lane segment at a location along the lane segment, the determining including measuring a distance between the current location of the autonomous vehicle and a portion of the border segment closest to the current location of the autonomous vehicle; determining a driving maneuver based on the determined distance; and causing one or more vehicle systems of the autonomous vehicle to implement the determined driving maneuver.