# A Flexible Multi-Layer Map Model Designed for Lane-Level Route Planning in Autonomous Vehicles

> Research article (Engineering, 2019) · cited 76× · AI/ML

**Wikidata**: [openalex:W2922329393](https://www.wikidata.org/wiki/openalex:W2922329393)  
**Source**: https://4ort.xyz/entity/a-flexible-multi-layer-map-model-designed-for-lane-level-route-planning-in-autonomous-vehicles