A method for determining a canonical route includes receiving trip data associated with one or more traversals of a plurality of roadways in a geographic location by one or more autonomous vehicles. The method includes generating at least one canonical route based on the trip data, wherein the at least one canonical route includes at least one roadway connected with another roadway in the plurality of roadways. The method includes providing 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.