1. An apparatus comprising: an autonomous vehicle comprising: a) steering, acceleration, deceleration, or gear selection devices or combinations of them configured to effect movement of the autonomous vehicle on a road network; and b) a computer having a processor to execute a process (i) to generate commands to the steering, acceleration, deceleration, or gear selection devices or combinations of them to move the autonomous vehicle in accordance with driving decisions; and (ii) to update the commands (a) in response to data representing motion characteristics of a hypothetical vehicle being driven on the road network and (b) based on discretized points of a lane that cannot be perceived by one or more sensors.