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, the border segment being formed from a plurality of borderpoints, wherein information is associated with one or more of the plurality of borderpoints, the information including a geographical location, a border type, and a border color; determining, using the map format, 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, the driving maneuver being a driving maneuver affecting the movement of the autonomous vehicle; and causing one or more vehicle systems of the autonomous vehicle to implement the determined driving maneuver, whereby movement of the autonomous vehicle is affected by the implemented driving maneuver.