A position target for a planned speed change maneuver is received. From a predetermined family of kinematic functions, a kinematic function for carrying out the planned speed change maneuver, is determined. The kinematic function is a first or higher order derivative of acceleration with respect to…

A computer system comprising: computer storage configured to store a static road layout; a topological indexing component configured to generate an in-memory topological index of the static road layout, the topological index in the form of a graph of nodes and edges, wherein each node corresponds…