An autonomous vehicle (AV) includes a vehicle computing system including one or more processors programmed to receive map data associated with a map of a geographic location, including, one or more local routes in the one or more roadways between the current location of the AV and one or more exit locations, receive sensor data associated with an object detected in an environment surrounding the AV, select a local route of the one or more local routes based on the sensor data and control travel of the AV based on a selected local route of the one or more local routes. The map includes one or more roadways in the geographic location. The one or more exit locations are located between the current location of the AV and the destination location of the AV in a global route in the one or more roadways.