Determining autonomous vehicle routes

1. A method for determining a canonical route comprising:

receiving, with a computing system comprising one or more processors, trip data associated with one or more traversals of a plurality of roadways in a geographic location by one or more autonomous vehicles;

generating, with the computing system, at least one canonical route including a shortest route, by selecting the shortest route from a plurality of shortest routes that are generated based on the trip data for each of a plurality of random subsets of roadways in the geographic location, wherein each of the plurality of shortest routes is associated with a respective one of the random subsets of roadways and includes at least each roadway of the respective random subset of roadways, and wherein the at least one canonical route comprises a shortest path between at least one roadway connected with another roadway in the plurality of roadways; and

providing, with the computing system, canonical route data associated with the at least one canonical route to an autonomous vehicle for controlling travel of the autonomous vehicle on the at least one canonical route.

2. The method of claim 1 , further comprising:

receiving, with the computing system, map data associated with a map of the geographic location; and

determining, with the computing system, the plurality of roadways in the geographic location based on the map data and autonomy criteria, wherein the autonomy criteria is associated with an indication of whether the autonomous vehicle can travel on the plurality of roadways.

3. The method of claim 1 , wherein the trip data comprises at least one of the following:

a number of interventions associated with the one or more traversals of the plurality of roadways in the geographic location by the one or more autonomous vehicles,

a number of hazards associated with the one or more traversals of the plurality of roadways in the geographic location by the one or more autonomous vehicles, or

any combination thereof.

4. The method of claim 1 , wherein generating the at least one canonical route comprises:

determining, with the computing system, the at least one canonical route based on at least one objective function derived from the trip data.

5. The method of claim 1 , wherein generating the at least one canonical route comprises:

determining, with the computing system, a subset of roadways of the plurality of roadways associated with trip data that satisfies a threshold value, wherein each roadway of the subset of roadways must be traversed in a route;

determining, with the computing system, a shortest path between each pair of roadways of the subset of roadways;

determining, with the computing system, the shortest route in the subset of roadways that includes each roadway of the subset of roadways;

determining, with the computing system, a shortest route in the plurality of roadways based on an order of the subset of roadways in the shortest route of the subset of roadways and the shortest path between each pair of roadways in the subset of roadways; and

wherein the at least one canonical route comprises roadways in the shortest route in the plurality of roadways.

6. The method of claim 1 , wherein generating the at least one canonical route comprises:

determining, with the computing system, a trimmed set of roadways of the plurality of roadways associated with trip data that satisfies a threshold value, wherein each roadway of the trimmed set of roadways must not be traversed in a route;

determining, with the computing system, a subset of roadways based on the trimmed set of roadways, wherein the subset of roadways comprises a largest strongly connected set of roadways remaining after removing the trimmed set of roadways from the plurality of roadways;

determining, with the computing system, a shortest path between pairs of roadways in the subset of roadways;

determining, with the computing system the plurality of random subsets of roadways in the geographic location from the subset of roadways;

applying, with the computing system, an objective function derived based on the trip data to each of the shortest routes determined for each random subset of the plurality of random subsets of roadways to determine an objective function value for that shortest route;

determining, with the computing system, a preferred subset of roadways based on the objective function values of the plurality of shortest routes;

determining, with the computing system, a shortest route in the plurality of roadways based on an order of the preferred subset of roadways and the shortest path between each pair of roadways in the subset of roadways; and

wherein the at least one canonical route comprises roadways in the shortest route in the plurality of roadways.

7. The method of claim 1 , wherein generating the at least one canonical route comprises:

determining, with the computing system, a subset of roadways of the plurality of roadways based on the trip data and at least one threshold;

determining, with the computing system, a shortest path between pairs of roadways in the subset of roadways;

determining, with the computing system, the plurality of random subset of roadways in the geographic location from the subsets of roadways;

determining, with the computing system, for each of the plurality of random subsets of roadways, the shortest route in the plurality of roadways based on an order of the respective random subset of roadways in the shortest route and the shortest path between pairs of roadways;

applying, with the computing system, an objective function derived based on the trip data to each of the shortest routes determined in the plurality of roadways to determine an objective function value for that shortest route; and

determining, with the computing system, the at least one canonical route based on the objective function values of the shortest routes in the plurality of roadways.

8. A computing system comprising:

one or more processors programmed or configured to:

receive trip data associated with one or more traversals of a plurality of roadways in a geographic location by one or more autonomous vehicles;

generate at least one canonical route including a shortest route, by selecting the shortest route from a plurality of shortest routes that are generated based on the trip data for each of a plurality of random subsets of roadways in the geographic location, wherein each of a plurality of shortest routes is associated with a respective one of the random subsets of roadways and includes at least each roadway of the respective random subset of roadways, and wherein the at least one canonical route comprises a shortest path between at least one roadway connected with another roadway in the plurality of roadways; and

provide canonical route data associated with the at least one canonical route to an autonomous vehicle for controlling travel of the autonomous vehicle on the at least one canonical route.

9. The computing system of claim 8 , wherein the one or more processors are further programmed or configured to:

receive map data associated with a map of the geographic location; and

determine the plurality of roadways in the geographic location based on the map data and autonomy criteria, wherein the autonomy criteria is associated with an indication of whether the autonomous vehicle can travel on the plurality of roadways.

10. The computing system of claim 8 , wherein the trip data comprises at least one of the following:

a number of interventions associated with the one or more traversals of the plurality of roadways in the geographic location by the one or more autonomous vehicles;

a number of hazards associated with the one or more traversals of the plurality of roadways in the geographic location by the one or more autonomous vehicles;

or any combination thereof.

11. The computing system of claim 8 , wherein the one or more processors are further programmed or configured to:

determine the at least one canonical route based on at least one objective function derived from the trip data.

12. The computing system of claim 8 , wherein the one or more processors are further programmed or configured to:

determine a subset of roadways of the plurality of roadways associated with trip data that satisfies a threshold value, wherein each roadway of the subset of roadways must be traversed in a route;

determine a shortest path between each pair of roadways of the subset of roadways;

determine the shortest route in the subset of roadways that includes each roadway of the subset of roadways;

determine a shortest route in the plurality of roadways based on an order of the subset of roadways in the shortest route of the subset of roadways and the shortest path between each pair of roadways in the subset of roadways; and

wherein the at least one canonical route comprises roadways in the shortest route in the plurality of roadways.

13. The computing system of claim 8 , wherein the one or more processors are further programmed or configured to:

determine a trimmed set of roadways of the plurality of roadways associated with trip data that satisfies a threshold value, wherein each roadway of the trimmed set of roadways must not be traversed in a route;

determine a subset of roadways based on the trimmed set of roadways, wherein the subset of roadways comprises a largest strongly connected set of roadways remaining after removing the trimmed set of roadways from the plurality of roadways;

determine a shortest path between pairs of roadways in the subset of roadways;

determine the plurality of random subsets of roadways in the geographic location from the subset of roadways;

apply an objective function derived based on the trip data to the shortest route of each random subset of the plurality of random subsets of roadways to determine an objective function value for that shortest route;

determine a preferred subset of roadways based on the shortest route of a plurality of shortest routes determined for the plurality of random subsets that best satisfies the objective function;

determine a shortest route in the plurality of roadways based on an order of the preferred subset of roadways and the shortest path between each pair of roadways in the subset of roadways; and

wherein the at least one canonical route comprises roadways in the shortest route in the plurality of roadways.

14. The computing system of claim 8 , wherein the one or more processors are further programmed or configured to:

determine a subset of roadways of the plurality of roadways based on the trip data and at least one threshold;

determine a shortest path between pairs of roadways in the subset of roadways;

determine the plurality of random subsets of roadways in the geographic location from the subset of roadways;

determine, for each of the plurality of random subsets of roadways, the shortest route in the plurality of roadways based on an order of the respective random subset of roadways in the shortest route and the shortest path between pairs of roadways;

apply an objective function derived based on the trip data to each of the shortest routes determined in the plurality of roadways to determine an objective function value for that shortest route; and

determine the at least one canonical route based on the objective function values of the shortest routes in the plurality of roadways.