From 401fb908887669fad2d83faa7b5ab894e671179a Mon Sep 17 00:00:00 2001
From: Alfonso hernandez <hz.alfonso@gmail.com>
Date: Thu, 1 Feb 2024 11:04:30 +0100
Subject: [PATCH] LiveMapData: Implementation

---
 launch_chffrplus.sh                          |     2 +-
 poetry.lock                                  |  2786 ++--
 pyproject.toml                               |     1 +
 selfdrive/assets/img_world_icon.png          |   Bin 0 -> 3654 bytes
 selfdrive/controls/plannerd.py               |     2 +-
 selfdrive/manager/custom_dep.py              |    85 +
 selfdrive/manager/manager.py                 |     2 +
 selfdrive/manager/process_config.py          |     1 +
 selfdrive/mapd/config.py                     |     7 +
 selfdrive/mapd/lib/NodesData.py              |   392 +
 selfdrive/mapd/lib/Route.py                  |   340 +
 selfdrive/mapd/lib/WayCollection.py          |    85 +
 selfdrive/mapd/lib/WayRelation.py            |   421 +
 selfdrive/mapd/lib/WayRelationIndex.py       |    34 +
 selfdrive/mapd/lib/default_speeds.json       |   111 +
 selfdrive/mapd/lib/geo.py                    |    66 +
 selfdrive/mapd/lib/osm.py                    |    37 +
 selfdrive/mapd/mapd.py                       |   266 +
 selfdrive/mapd/test/__init__.py              |     0
 selfdrive/mapd/test/mock_data.py             |   266 +
 selfdrive/mapd/test/mock_osm_response_01.xml |  9908 ++++++++++++++
 selfdrive/mapd/test/mock_osm_response_02.xml | 11529 +++++++++++++++++
 selfdrive/mapd/test/test_NodesData.py        |   354 +
 selfdrive/mapd/test/test_WayRelation.py      |   651 +
 selfdrive/mapd/test/test_WayRelationIndex.py |    74 +
 selfdrive/mapd/test/test_geo.py              |   234 +
 selfdrive/ui/qt/onroad.cc                    |    18 +
 selfdrive/ui/qt/onroad.h                     |     6 +
 selfdrive/ui/ui.cc                           |     2 +-
 29 files changed, 26278 insertions(+), 1402 deletions(-)
 create mode 100644 selfdrive/assets/img_world_icon.png
 create mode 100755 selfdrive/manager/custom_dep.py
 create mode 100644 selfdrive/mapd/config.py
 create mode 100644 selfdrive/mapd/lib/NodesData.py
 create mode 100644 selfdrive/mapd/lib/Route.py
 create mode 100644 selfdrive/mapd/lib/WayCollection.py
 create mode 100644 selfdrive/mapd/lib/WayRelation.py
 create mode 100644 selfdrive/mapd/lib/WayRelationIndex.py
 create mode 100644 selfdrive/mapd/lib/default_speeds.json
 create mode 100644 selfdrive/mapd/lib/geo.py
 create mode 100644 selfdrive/mapd/lib/osm.py
 create mode 100644 selfdrive/mapd/mapd.py
 create mode 100644 selfdrive/mapd/test/__init__.py
 create mode 100644 selfdrive/mapd/test/mock_data.py
 create mode 100644 selfdrive/mapd/test/mock_osm_response_01.xml
 create mode 100644 selfdrive/mapd/test/mock_osm_response_02.xml
 create mode 100644 selfdrive/mapd/test/test_NodesData.py
 create mode 100644 selfdrive/mapd/test/test_WayRelation.py
 create mode 100644 selfdrive/mapd/test/test_WayRelationIndex.py
 create mode 100644 selfdrive/mapd/test/test_geo.py

diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 9fe9b1bd15f23f..712b9911af9268 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -84,7 +84,7 @@ function launch {
 
   # start manager
   cd selfdrive/manager
-  ./build.py && ./manager.py
+  ./custom_dep.py && ./build.py && ./manager.py
 
   # if broken, keep on screen error
   while true; do sleep 1; done
diff --git a/poetry.lock b/poetry.lock
index 3b4fdea7594f89..34c8b788159955 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,111 +2,98 @@
 
 [[package]]
 name = "aiohttp"
-version = "3.8.6"
+version = "3.9.3"
 description = "Async http client/server framework (asyncio)"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
 aiosignal = ">=1.1.2"
-async-timeout = ">=4.0.0a3,<5.0"
 attrs = ">=17.3.0"
-charset-normalizer = ">=2.0,<4.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
 yarl = ">=1.0,<2.0"
 
 [package.extras]
-speedups = ["Brotli", "aiodns", "cchardet"]
+speedups = ["Brotli", "aiodns", "brotlicffi"]
 
 [[package]]
 name = "aioice"
@@ -125,75 +112,48 @@ ifaddr = ">=0.2.0"
 
 [[package]]
 name = "aiortc"
-version = "1.5.0"
+version = "1.7.0"
 description = "An implementation of WebRTC and ORTC"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
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 aioice = ">=0.9.0,<1.0.0"
-av = ">=9.0.0,<11.0.0"
+av = ">=9.0.0,<12.0.0"
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+dev = ["aiohttp (>=3.7.0)", "coverage[toml] (>=7.2.2)", "numpy (>=1.19.0)"]
 
 [[package]]
 name = "aiosignal"
@@ -211,24 +171,13 @@ frozenlist = ">=1.1.0"
 
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-
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-description = "Timeout context manager for asyncio programs"
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 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.9"
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 ]
 
 [[package]]
@@ -243,88 +192,90 @@ files = [
 
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-version = "23.1.0"
+version = "23.2.0"
 description = "Classes Without Boilerplate"
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 python-versions = ">=3.7"
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-dev = ["attrs[docs,tests]", "pre-commit"]
+dev = ["attrs[tests]", "pre-commit"]
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 [package.dependencies]
-requests = ">=2.18.4"
+requests = ">=2.21.0"
 six = ">=1.11.0"
 typing-extensions = ">=4.6.0"
 
@@ -370,13 +321,13 @@ aio = ["azure-core[aio] (>=1.28.0,<2.0.0)"]
 
 [[package]]
 name = "babel"
-version = "2.13.1"
+version = "2.14.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
@@ -468,13 +419,13 @@ numpy = "*"
 
 [[package]]
 name = "certifi"
-version = "2023.7.22"
+version = "2023.11.17"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [[package]]
@@ -824,63 +775,63 @@ test = ["pytest", "pytest-timeout"]
 
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+version = "7.4.1"
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 ]
 
 [package.dependencies]
-cffi = ">=1.12"
+cffi = {version = ">=1.12", markers = "platform_python_implementation != \"PyPy\""}
 
 [package.extras]
 docs = ["sphinx (>=5.3.0)", "sphinx-rtd-theme (>=1.1.1)"]
-docstest = ["pyenchant (>=1.6.11)", "sphinxcontrib-spelling (>=4.0.1)", "twine (>=1.12.0)"]
+docstest = ["pyenchant (>=1.6.11)", "readme-renderer", "sphinxcontrib-spelling (>=4.0.1)"]
 nox = ["nox"]
-pep8test = ["black", "check-sdist", "mypy", "ruff"]
+pep8test = ["check-sdist", "click", "mypy", "ruff"]
 sdist = ["build"]
 ssh = ["bcrypt (>=3.1.5)"]
-test = ["pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
+test = ["certifi", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
 test-randomorder = ["pytest-randomly"]
 
 [[package]]
@@ -958,69 +918,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
 [[package]]
 name = "cython"
-version = "3.0.5"
+version = "3.0.8"
 description = "The Cython compiler for writing C extensions in the Python language."
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
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 [[package]]
@@ -1370,13 +1353,13 @@ rewrite = ["tokenize-rt (>=3)"]
 
 [[package]]
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-version = "0.14.1"
+version = "0.14.3"
 description = "Geographic pandas extensions"
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.dependencies]
@@ -1603,13 +1586,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
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-version = "2.5.31"
+version = "2.5.33"
 description = "File identification library for Python"
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 python-versions = ">=3.8"
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 ]
 
 [package.extras]
@@ -1617,13 +1600,13 @@ license = ["ukkonen"]
 
 [[package]]
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+version = "3.6"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.5"
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 [[package]]
@@ -1650,20 +1633,20 @@ files = [
 
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 [package.dependencies]
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@@ -1723,13 +1706,13 @@ testing = ["pytest (==7.1.3)"]
 
 [[package]]
 name = "jinja2"
-version = "3.1.2"
+version = "3.1.3"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -1970,110 +1953,96 @@ test = ["pytest"]
 
 [[package]]
 name = "lxml"
-version = "4.9.3"
+version = "5.1.0"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
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 html5 = ["html5lib"]
 htmlsoup = ["BeautifulSoup4"]
-source = ["Cython (>=0.29.35)"]
+source = ["Cython (>=3.0.7)"]
 
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 [package.dependencies]
@@ -2283,13 +2262,13 @@ resolved_reference = "72e842cd1d025bf676e4af8797a01e4aa282109f"
 
 [[package]]
 name = "mpld3"
-version = "0.5.9"
+version = "0.5.10"
 description = "D3 Viewer for Matplotlib"
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 python-versions = "*"
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@@ -2315,13 +2294,13 @@ tests = ["pytest (>=4.6)"]
 
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+version = "1.26.0"
+description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
 optional = false
 python-versions = ">=2.7"
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@@ -2334,20 +2313,21 @@ broker = ["pymsalruntime (>=0.13.2,<0.14)"]
 
 [[package]]
 name = "msal-extensions"
-version = "1.0.0"
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 [package.dependencies]
 msal = ">=0.4.1,<2.0.0"
+packaging = "*"
 portalocker = [
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-    {version = ">=1.6,<3", markers = "python_version >= \"3.5\" and platform_system == \"Windows\""},
+    {version = ">=1.0,<3", markers = "platform_system != \"Windows\""},
+    {version = ">=1.6,<3", markers = "platform_system == \"Windows\""},
 ]
 
 [[package]]
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 [package.dependencies]
@@ -2666,19 +2647,21 @@ sympy = "*"
 
 [[package]]
 name = "onnxruntime-gpu"
-version = "1.16.2"
+version = "1.17.0"
 description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.dependencies]
@@ -2691,18 +2674,18 @@ sympy = "*"
 
 [[package]]
 name = "opencv-python"
-version = "4.8.1.78"
+version = "4.9.0.80"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -2710,23 +2693,33 @@ numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
 [[package]]
 name = "opencv-python-headless"
-version = "4.8.1.78"
+version = "4.9.0.80"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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+    {file = "opencv_python_headless-4.9.0.80-cp37-abi3-win_amd64.whl", hash = "sha256:a8056c2cb37cd65dfcdf4153ca16f7362afcf3a50d600d6bb69c660fc61ee29c"},
 ]
 
 [package.dependencies]
 numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
 
+[[package]]
+name = "overpy"
+version = "0.6"
+description = "Python Wrapper to access the OpenStreepMap Overpass API"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "overpy-0.6.tar.gz", hash = "sha256:75fa462c445a3d8ade4dad84df6f150d273f45548639229316829a3a8c3e2190"},
+]
+
 [[package]]
 name = "packaging"
 version = "23.2"
@@ -2840,84 +2833,89 @@ panda3d-simplepbr = ">=0.6"
 
 [[package]]
 name = "panda3d-simplepbr"
-version = "0.10"
+version = "0.11.2"
 description = "A simple, lightweight PBR render pipeline for Panda3D"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
 panda3d = ">=1.10.8"
+typing-extensions = ">=4.7,<5.0"
 
 [package.extras]
-test = ["pylint (==2.4.*)", "pytest", "pytest-pylint"]
+test = ["pylint (>=3.0.0,<3.1.0)", "pytest", "pytest-pylint"]
 
 [[package]]
 name = "pandas"
-version = "2.1.3"
+version = "2.2.0"
 description = "Powerful data structures for data analysis, time series, and statistics"
 optional = false
 python-versions = ">=3.9"
 files = [
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@@ -3701,20 +3681,20 @@ cp2110 = ["hidapi"]
 
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 ]
 
 [package.dependencies]
-numpy = ">=1.21.6,<1.28.0"
+numpy = ">=1.22.4,<1.29.0"
 
 [package.extras]
 dev = ["click", "cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyle", "pydevtool", "rich-click", "ruff", "types-psutil", "typing_extensions"]
 doc = ["jupytext", "matplotlib (>2)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-design (>=0.2.0)"]
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+test = ["asv", "gmpy2", "hypothesis", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
 [[package]]
 name = "scons"
-version = "4.5.2"
+version = "4.6.0.post1"
 description = "Open Source next-generation build tool."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "SCons-4.5.2-py3-none-any.whl", hash = "sha256:2f66a1c5c485068a496c12356583eefb2d79e17177278c7334b12b460f0503ce"},
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 ]
 
 [package.dependencies]
@@ -4163,9 +4144,9 @@ setuptools = "*"
 [[package]]
 name = "sconscontrib"
 version = "1.0"
-description = "Contributed builders and other useful logic for the SCons build system.,"
+description = ""
 optional = false
-python-versions = "<4,>=3.6"
+python-versions = ">=3.6, <4"
 files = []
 develop = false
 
@@ -4183,17 +4164,17 @@ resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
 
 [[package]]
 name = "seaborn"
-version = "0.13.0"
+version = "0.13.2"
 description = "Statistical data visualization"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
-matplotlib = ">=3.3,<3.6.1 || >3.6.1"
+matplotlib = ">=3.4,<3.6.1 || >3.6.1"
 numpy = ">=1.20,<1.24.0 || >1.24.0"
 pandas = ">=1.2"
 
@@ -4346,17 +4327,17 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "68.2.2"
+version = "69.0.3"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
 testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
@@ -4522,18 +4503,18 @@ test = ["cython (>=3.0)", "filelock", "html5lib", "pytest (>=4.6)", "setuptools
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "1.3.0"
+version = "2.0.0"
 description = "Read the Docs theme for Sphinx"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+python-versions = ">=3.6"
 files = [
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+    {file = "sphinx_rtd_theme-2.0.0.tar.gz", hash = "sha256:bd5d7b80622406762073a04ef8fadc5f9151261563d47027de09910ce03afe6b"},
 ]
 
 [package.dependencies]
-docutils = "<0.19"
-sphinx = ">=1.6,<8"
+docutils = "<0.21"
+sphinx = ">=5,<8"
 sphinxcontrib-jquery = ">=4,<5"
 
 [package.extras]
@@ -4555,56 +4536,50 @@ sphinx = ">=1.2"
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.7"
+version = "1.0.8"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "sphinxcontrib_applehelp-1.0.8-py3-none-any.whl", hash = "sha256:cb61eb0ec1b61f349e5cc36b2028e9e7ca765be05e49641c97241274753067b4"},
+    {file = "sphinxcontrib_applehelp-1.0.8.tar.gz", hash = "sha256:c40a4f96f3776c4393d933412053962fac2b84f4c99a7982ba42e09576a70619"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.5"
+version = "1.0.6"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
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+    {file = "sphinxcontrib_devhelp-1.0.6-py3-none-any.whl", hash = "sha256:6485d09629944511c893fa11355bda18b742b83a2b181f9a009f7e500595c90f"},
+    {file = "sphinxcontrib_devhelp-1.0.6.tar.gz", hash = "sha256:9893fd3f90506bc4b97bdb977ceb8fbd823989f4316b28c3841ec128544372d3"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.4"
+version = "2.0.5"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
 python-versions = ">=3.9"
 files = [
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-    {file = "sphinxcontrib_htmlhelp-2.0.4.tar.gz", hash = "sha256:6c26a118a05b76000738429b724a0568dbde5b72391a688577da08f11891092a"},
+    {file = "sphinxcontrib_htmlhelp-2.0.5-py3-none-any.whl", hash = "sha256:393f04f112b4d2f53d93448d4bce35842f62b307ccdc549ec1585e950bc35e04"},
+    {file = "sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["html5lib", "pytest"]
 
 [[package]]
@@ -4637,38 +4612,34 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.6"
+version = "1.0.7"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_qthelp-1.0.6-py3-none-any.whl", hash = "sha256:bf76886ee7470b934e363da7a954ea2825650013d367728588732c7350f49ea4"},
-    {file = "sphinxcontrib_qthelp-1.0.6.tar.gz", hash = "sha256:62b9d1a186ab7f5ee3356d906f648cacb7a6bdb94d201ee7adf26db55092982d"},
+    {file = "sphinxcontrib_qthelp-1.0.7-py3-none-any.whl", hash = "sha256:e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182"},
+    {file = "sphinxcontrib_qthelp-1.0.7.tar.gz", hash = "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.9"
+version = "1.1.10"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinxcontrib_serializinghtml-1.1.9-py3-none-any.whl", hash = "sha256:9b36e503703ff04f20e9675771df105e58aa029cfcbc23b8ed716019b7416ae1"},
-    {file = "sphinxcontrib_serializinghtml-1.1.9.tar.gz", hash = "sha256:0c64ff898339e1fac29abd2bf5f11078f3ec413cfe9c046d3120d7ca65530b54"},
+    {file = "sphinxcontrib_serializinghtml-1.1.10-py3-none-any.whl", hash = "sha256:326369b8df80a7d2d8d7f99aa5ac577f51ea51556ed974e7716cfd4fca3f6cb7"},
+    {file = "sphinxcontrib_serializinghtml-1.1.10.tar.gz", hash = "sha256:93f3f5dc458b91b192fe10c397e324f262cf163d79f3282c158e8436a2c4511f"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
 test = ["pytest"]
 
 [[package]]
@@ -4789,13 +4760,13 @@ files = [
 
 [[package]]
 name = "types-pycurl"
-version = "7.45.2.5"
+version = "7.45.2.20240106"
 description = "Typing stubs for pycurl"
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
-    {file = "types-pycurl-7.45.2.5.tar.gz", hash = "sha256:cc07e4b1e388b98e1a935bc12ef33eec8e7294496d0a81ed50c46a31bf5df5ee"},
-    {file = "types_pycurl-7.45.2.5-py3-none-any.whl", hash = "sha256:e433f13a266245be770018eabc6a50139ea26150f75df5b0ee698d291575582b"},
+    {file = "types-pycurl-7.45.2.20240106.tar.gz", hash = "sha256:8dadf91b726207e4170d830ef35251a39c33e64a1bbd3682eb36174ffa2ce7b1"},
+    {file = "types_pycurl-7.45.2.20240106-py3-none-any.whl", hash = "sha256:055dd6c1f0cdc706013411e3727cb717d4e985f3dfc42f7cb389ae403066dabb"},
 ]
 
 [[package]]
@@ -4811,13 +4782,13 @@ files = [
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.10"
+version = "2.31.0.20240125"
 description = "Typing stubs for requests"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.31.0.10.tar.gz", hash = "sha256:dc5852a76f1eaf60eafa81a2e50aefa3d1f015c34cf0cba130930866b1b22a92"},
-    {file = "types_requests-2.31.0.10-py3-none-any.whl", hash = "sha256:b32b9a86beffa876c0c3ac99a4cd3b8b51e973fb8e3bd4e0a6bb32c7efad80fc"},
+    {file = "types-requests-2.31.0.20240125.tar.gz", hash = "sha256:03a28ce1d7cd54199148e043b2079cdded22d6795d19a2c2a6791a4b2b5e2eb5"},
+    {file = "types_requests-2.31.0.20240125-py3-none-any.whl", hash = "sha256:9592a9a4cb92d6d75d9b491a41477272b710e021011a2a3061157e2fb1f1a5d1"},
 ]
 
 [package.dependencies]
@@ -4825,68 +4796,69 @@ urllib3 = ">=2"
 
 [[package]]
 name = "types-tabulate"
-version = "0.9.0.3"
+version = "0.9.0.20240106"
 description = "Typing stubs for tabulate"
 optional = false
-python-versions = "*"
+python-versions = ">=3.8"
 files = [
-    {file = "types-tabulate-0.9.0.3.tar.gz", hash = "sha256:197651f9d6467193cd166d8500116a6d3a26f2a4eb2db093bc9535ee1c0be55e"},
-    {file = "types_tabulate-0.9.0.3-py3-none-any.whl", hash = "sha256:462d1b62e01728416e8277614d6a3eb172d53a8efaf04a04a973ff2dd45238f6"},
+    {file = "types-tabulate-0.9.0.20240106.tar.gz", hash = "sha256:c9b6db10dd7fcf55bd1712dd3537f86ddce72a08fd62bb1af4338c7096ce947e"},
+    {file = "types_tabulate-0.9.0.20240106-py3-none-any.whl", hash = "sha256:0378b7b6fe0ccb4986299496d027a6d4c218298ecad67199bbd0e2d7e9d335a1"},
 ]
 
 [[package]]
 name = "typing-extensions"
-version = "4.8.0"
+version = "4.9.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "typing_extensions-4.8.0.tar.gz", hash = "sha256:df8e4339e9cb77357558cbdbceca33c303714cf861d1eef15e1070055ae8b7ef"},
+    {file = "typing_extensions-4.9.0-py3-none-any.whl", hash = "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"},
+    {file = "typing_extensions-4.9.0.tar.gz", hash = "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783"},
 ]
 
 [[package]]
 name = "tzdata"
-version = "2023.3"
+version = "2023.4"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
-    {file = "tzdata-2023.3-py2.py3-none-any.whl", hash = "sha256:7e65763eef3120314099b6939b5546db7adce1e7d6f2e179e3df563c70511eda"},
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+    {file = "tzdata-2023.4.tar.gz", hash = "sha256:dd54c94f294765522c77399649b4fefd95522479a664a0cec87f41bebc6148c9"},
 ]
 
 [[package]]
 name = "urllib3"
-version = "2.1.0"
+version = "2.2.0"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.1.0-py3-none-any.whl", hash = "sha256:55901e917a5896a349ff771be919f8bd99aff50b79fe58fec595eb37bbc56bb3"},
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+    {file = "urllib3-2.2.0-py3-none-any.whl", hash = "sha256:ce3711610ddce217e6d113a2732fafad960a03fd0318c91faa79481e35c11224"},
+    {file = "urllib3-2.2.0.tar.gz", hash = "sha256:051d961ad0c62a94e50ecf1af379c3aba230c66c710493493560c0c223c49f20"},
 ]
 
 [package.extras]
 brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+h2 = ["h2 (>=4,<5)"]
 socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
 zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.24.6"
+version = "20.25.0"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.24.6-py3-none-any.whl", hash = "sha256:520d056652454c5098a00c0f073611ccbea4c79089331f60bf9d7ba247bb7381"},
-    {file = "virtualenv-20.24.6.tar.gz", hash = "sha256:02ece4f56fbf939dbbc33c0715159951d6bf14aaf5457b092e4548e1382455af"},
+    {file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
+    {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
 ]
 
 [package.dependencies]
 distlib = ">=0.3.7,<1"
 filelock = ">=3.12.2,<4"
-platformdirs = ">=3.9.1,<4"
+platformdirs = ">=3.9.1,<5"
 
 [package.extras]
 docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
@@ -4894,13 +4866,13 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "websocket-client"
-version = "1.6.4"
+version = "1.7.0"
 description = "WebSocket client for Python with low level API options"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "websocket-client-1.6.4.tar.gz", hash = "sha256:b3324019b3c28572086c4a319f91d1dcd44e6e11cd340232978c684a7650d0df"},
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+    {file = "websocket-client-1.7.0.tar.gz", hash = "sha256:10e511ea3a8c744631d3bd77e61eb17ed09304c413ad42cf6ddfa4c7787e8fe6"},
+    {file = "websocket_client-1.7.0-py3-none-any.whl", hash = "sha256:f4c3d22fec12a2461427a29957ff07d35098ee2d976d3ba244e688b8b4057588"},
 ]
 
 [package.extras]
@@ -4926,85 +4898,101 @@ tomli = ">=2.0.1"
 
 [[package]]
 name = "yarl"
-version = "1.9.2"
+version = "1.9.4"
 description = "Yet another URL library"
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "yarl-1.9.4-cp39-cp39-win32.whl", hash = "sha256:c7224cab95645c7ab53791022ae77a4509472613e839dab722a72abe5a684575"},
+    {file = "yarl-1.9.4-cp39-cp39-win_amd64.whl", hash = "sha256:824d6c50492add5da9374875ce72db7a0733b29c2394890aef23d533106e2b15"},
+    {file = "yarl-1.9.4-py3-none-any.whl", hash = "sha256:928cecb0ef9d5a7946eb6ff58417ad2fe9375762382f1bf5c55e61645f2c43ad"},
+    {file = "yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf"},
 ]
 
 [package.dependencies]
@@ -5029,4 +5017,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "f0abc0f53443c3b98eb06fc4dd0ff736e39197bc68c79db9aeffb4736657b676"
+content-hash = "b2044ff11c0636f415a5cfe0646b681305ea9c04d723cb26abb286dba1db7182"
diff --git a/pyproject.toml b/pyproject.toml
index 38c3337c6f5a05..10b818ead85528 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -112,6 +112,7 @@ tqdm = "*"
 websocket_client = "*"
 polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
+overpy = "==0.6"
 
 
 [tool.poetry.group.dev.dependencies]
diff --git a/selfdrive/assets/img_world_icon.png b/selfdrive/assets/img_world_icon.png
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diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 15dbd4c5e2964c..fdbba116b805f2 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -42,7 +42,7 @@ def plannerd_thread():
   lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
   pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'liveMapData'],
                            poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   while True:
diff --git a/selfdrive/manager/custom_dep.py b/selfdrive/manager/custom_dep.py
new file mode 100755
index 00000000000000..1841b409b5962d
--- /dev/null
+++ b/selfdrive/manager/custom_dep.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+import os
+import sys
+import errno
+import shutil
+import time
+from urllib.request import urlopen
+from glob import glob
+import subprocess
+import importlib.util
+
+# NOTE: Do NOT import anything here that needs be built (e.g. params)
+from openpilot.common.spinner import Spinner
+from openpilot.common.basedir import BASEDIR
+
+sys.path.append(os.path.join(BASEDIR, "third_party"))
+OPSPLINE_SPEC = importlib.util.find_spec('scipy')
+OVERPY_SPEC = importlib.util.find_spec('overpy')
+MAX_BUILD_PROGRESS = 100
+TMP_DIR = '/data/tmp'
+THIRD_PARTY_DIR = '/data/openpilot/third_party'
+
+
+def wait_for_internet_connection(return_on_failure=False):
+  retries = 0
+  while True:
+    try:
+      _ = urlopen('https://www.google.com/', timeout=10)
+      return True
+    except Exception as e:
+      print(f'Wait for internet failed: {e}')
+      if return_on_failure and retries == 15:
+        return False
+      retries += 1
+      time.sleep(2)  # Wait for 2 seconds before retrying
+
+
+def install_dep(spinner):
+  wait_for_internet_connection()
+
+  TOTAL_PIP_STEPS = 2986
+
+  try:
+    os.makedirs(TMP_DIR)
+  except OSError as e:
+    if e.errno != errno.EEXIST:
+      raise
+  my_env = os.environ.copy()
+  my_env['TMPDIR'] = TMP_DIR
+
+  pip_target = [f'--target={THIRD_PARTY_DIR}']
+  packages = []
+  if OPSPLINE_SPEC is None:
+    packages.append('scipy==1.7.1')
+  if OVERPY_SPEC is None:
+    packages.append('overpy==0.6')
+
+  pip = subprocess.Popen([sys.executable, "-m", "pip", "install", "-v"] + pip_target + packages,
+                          stdout=subprocess.PIPE, env=my_env)
+
+  # Read progress from pip and update spinner
+  steps = 0
+  while True:
+    output = pip.stdout.readline()
+    if pip.poll() is not None:
+      break
+    if output:
+      steps += 1
+      spinner.update_progress(MAX_BUILD_PROGRESS * min(1., steps / TOTAL_PIP_STEPS), 100.)
+      print(output.decode('utf8', 'replace'))
+
+  shutil.rmtree(TMP_DIR)
+  os.unsetenv('TMPDIR')
+
+  # remove numpy installed to THIRD_PARTY_DIR since numpy is already present in the AGNOS image
+  if OPSPLINE_SPEC is None:
+    for directory in glob(f'{THIRD_PARTY_DIR}/numpy*'):
+      shutil.rmtree(directory)
+    shutil.rmtree(f'{THIRD_PARTY_DIR}/bin')
+
+
+if __name__ == "__main__" and (OPSPLINE_SPEC is None or OVERPY_SPEC is None):
+  spinner = Spinner()
+  spinner.update_progress(0, 100)
+  install_dep(spinner)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 09e33b20b40e52..32cc6ed1dc0013 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -25,6 +25,8 @@
                            is_tested_branch, is_release_branch
 
 
+sys.path.append(os.path.join(BASEDIR, "third_party"))
+
 
 def manager_init() -> None:
   # update system time from panda
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 320958d3440515..04e63f80d6bda2 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -81,6 +81,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),
   PythonProcess("statsd", "selfdrive.statsd", always_run),
+  PythonProcess("mapd", "selfdrive.mapd.mapd", only_onroad),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
diff --git a/selfdrive/mapd/config.py b/selfdrive/mapd/config.py
new file mode 100644
index 00000000000000..5d122422cad743
--- /dev/null
+++ b/selfdrive/mapd/config.py
@@ -0,0 +1,7 @@
+# Map query config
+
+QUERY_RADIUS = 3000  # mts. Radius to use on OSM data queries.
+MIN_DISTANCE_FOR_NEW_QUERY = 1000  # mts. Minimum distance to query area edge before issuing a new query.
+FULL_STOP_MAX_SPEED = 1.39  # m/s Max speed for considering car is stopped.
+LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapData msg.
+LANE_WIDTH = 3.7  # Lane width estimate. Used for detecting departures from way.
diff --git a/selfdrive/mapd/lib/NodesData.py b/selfdrive/mapd/lib/NodesData.py
new file mode 100644
index 00000000000000..7b681024aeb916
--- /dev/null
+++ b/selfdrive/mapd/lib/NodesData.py
@@ -0,0 +1,392 @@
+import numpy as np
+from enum import Enum
+from openpilot.selfdrive.mapd.lib.geo import DIRECTION, R, vectors
+
+from scipy.interpolate import splev, splprep
+
+
+_TURN_CURVATURE_THRESHOLD = 0.002  # 1/mts. A curvature over this value will generate a speed limit section.
+_MAX_LAT_ACC = 2.3  # Maximum lateral acceleration in turns.
+_SPLINE_EVAL_STEP = 5  # mts for spline evaluation for curvature calculation
+_MIN_SPEED_SECTION_LENGTH = 100.  # mts. Sections below this value will not be split in smaller sections.
+_MAX_CURV_DEVIATION_FOR_SPLIT = 2.  # Split a speed section if the max curvature deviates from mean by this factor.
+_MAX_CURV_SPLIT_ARC_ANGLE = 90.  # degrees. Arc section to split into new speed section around max curvature.
+_MIN_NODE_DISTANCE = 50.  # mts. Minimum distance between nodes for spline evaluation. Data is enhanced if not met.
+_ADDED_NODES_DIST = 15.  # mts. Distance between added nodes when data is enhanced for spline evaluation.
+_DIVERTION_SEARCH_RANGE = [-200., 50.]  # mt. Range of distance to current location for diversion search.
+
+
+def nodes_raw_data_array_for_wr(wr, drop_last=False):
+  """Provides an array of raw node data (id, lat, lon, speed_limit) for all nodes in way relation
+  """
+  sl = wr.speed_limit
+  data = np.array([(n.id, n.lat, n.lon, sl) for n in wr.way.nodes], dtype=float)
+
+  # reverse the order if way direction is backwards
+  if wr.direction == DIRECTION.BACKWARD:
+    data = np.flip(data, axis=0)
+
+  # drop last if requested
+  return data[:-1] if drop_last else data
+
+
+def node_calculations(points):
+  """Provides node calculations based on an array of (lat, lon) points in radians.
+     points is a (N x 1) array where N >= 3
+  """
+  if len(points) < 3:
+    raise(IndexError)
+
+  # Get the vector representation of node points in cartesian plane.
+  # (N-1, 2) array. Not including (0., 0.)
+  v = vectors(points) * R
+
+  # Calculate the vector magnitudes (or distance)
+  # (N-1, 1) array. No distance for v[-1]
+  d = np.linalg.norm(v, axis=1)
+
+  # Calculate the bearing (from true north clockwise) for every node.
+  # (N-1, 1) array. No bearing for v[-1]
+  b = np.arctan2(v[:, 0], v[:, 1])
+
+  # Add origin to vector space. (i.e first node in list)
+  v = np.concatenate(([[0., 0.]], v))
+
+  # Provide distance to previous node and distance to next node
+  dp = np.concatenate(([0.], d))
+  dn = np.concatenate((d, [0.]))
+
+  # Provide cumulative distance on route
+  dr = np.cumsum(dp, axis=0)
+
+  # Bearing of last node should keep bearing from previous.
+  b = np.concatenate((b, [b[-1]]))
+
+  return v, dp, dn, dr, b
+
+
+def spline_curvature_calculations(vect, dist_prev):
+  """Provides an array of curvatures and its distances by applying a spline interpolation
+  to the path described by the nodes data.
+  """
+  # We need to artificially enhance the data before applying spline interpolation to avoid getting
+  # inexistent curvature values close to irregularities on the road when the resolution of nodes data
+  # approaching the irregularity is low.
+
+  # - Find indexes where dist_prev is greater than threshold
+  too_far_idxs = np.nonzero(dist_prev >= _MIN_NODE_DISTANCE)[0]
+
+  # - Traversing in reverse order, enhance data by adding points at the found indexes.
+  for idx in too_far_idxs[::-1]:
+    dp = dist_prev[idx]  # distance of vector that needs to be replaced by higher resolution vectors.
+    n = int(np.ceil(dp / _ADDED_NODES_DIST))  # number of vectors that need to be added.
+    new_v = vect[idx, :] / n  # new relative vector to insert.
+    vect = np.delete(vect, idx, axis=0)  # remove the relative vector to be replaced by the insertion of new vectors.
+    vect = np.insert(vect, [idx] * n, [new_v] * n, axis=0)  # insert n new relative vectors
+
+  # Data is now enhanced, we can proceed with curvature evaluation.
+  # - Create cumulative arrays for distance traveled and vector (x, y)
+  ds = np.cumsum(dist_prev, axis=0)
+  vs = np.cumsum(vect, axis=0)
+
+  # - spline interpolation
+  tck, u = splprep([vs[:, 0], vs[:, 1]])  # pylint: disable=unbalanced-tuple-unpacking
+
+  # - evaluate every _SPLINE_EVAL_STEP mts.
+  n = max(int(ds[-1] / _SPLINE_EVAL_STEP), len(u))
+  unew = np.arange(0, n + 1) / n
+
+  # - get derivatives
+  d1 = splev(unew, tck, der=1)
+  d2 = splev(unew, tck, der=2)
+
+  # - calculate curvatures
+  num = d1[0] * d2[1] - d1[1] * d2[0]
+  den = (d1[0]**2 + d1[1]**2)**(1.5)
+  curv = num / den
+  curv_ds = unew * ds[-1]
+
+  return curv, curv_ds
+
+
+def speed_section(curv_sec):
+  """Map curvature section data into turn speed sections data.
+    Returns: [section start distance, section end distance, speed limit based on max curvature, sing of curvature]
+  """
+  max_curv_idx = np.argmax(curv_sec[:, 0])
+  start = np.amin(curv_sec[:, 2])
+  end = np.amax(curv_sec[:, 2])
+
+  return np.array([start, end, np.sqrt(_MAX_LAT_ACC / curv_sec[max_curv_idx, 0]), curv_sec[max_curv_idx, 1]])
+
+
+def split_speed_section_by_sign(curv_sec):
+  """Will split the given curvature section in subsections if there is a change of sign on the curvature value
+  in the section.
+  """
+  # Find the indexes where the curvatures change signs (if any).
+  c_idx = np.nonzero(np.diff(curv_sec[:, 1]))[0] + 1
+
+  # Split section base on change of sign.
+  return np.split(curv_sec, c_idx)
+
+
+def split_speed_section_by_curv_degree(curv_sec):
+  """Will split the given curvature section in subsections as to isolate peaks of turn with substantially
+  higher curvature values. This will aid on preventing having very long turn sections with low speed limit
+  that is only really necessary for a small region of the section.
+  """
+  # Only consider splitting a section if long enough.
+  length = curv_sec[-1, 2] - curv_sec[0, 2]
+  if length <= _MIN_SPEED_SECTION_LENGTH:
+    return [curv_sec]
+
+  # Only split if max curvature deviates substantially from mean curvature.
+  max_curv_idx = np.argmax(curv_sec[:, 0])
+  max_curv = curv_sec[max_curv_idx, 0]
+  mean_curv = np.mean(curv_sec[:, 0])
+  if max_curv / mean_curv <= _MAX_CURV_DEVIATION_FOR_SPLIT:
+    return [curv_sec]
+
+  # Calculate where to split as to isolate a curve section around the max curvature peak.
+  arc_side = (np.radians(_MAX_CURV_SPLIT_ARC_ANGLE) / max_curv) / 2.
+  arc_side_idx_lenght = int(np.ceil(arc_side / _SPLINE_EVAL_STEP))
+  split_idxs = [max_curv_idx - arc_side_idx_lenght, max_curv_idx + arc_side_idx_lenght]
+  split_idxs = list(filter(lambda idx: idx > 0 and idx < len(curv_sec) - 1, split_idxs))
+
+  # If the arc section to split extendes outside the section, then no need to split.
+  if len(split_idxs) == 0:
+    return [curv_sec]
+
+  # Create the splits and split the resulting sections recursevly.
+  splits = [split_speed_section_by_curv_degree(cs) for cs in np.split(curv_sec, split_idxs)]
+
+  # Flatten the results and return the new list of curvature sections.
+  curv_secs = [cs for split in splits for cs in split]
+  return curv_secs
+
+
+def speed_limits_for_curvatures_data(curv, dist):
+  """Provides the calculations for the speed limits from the curvatures array and distances,
+    by providing distances to curvature sections and corresponding speed limit values as well as
+    curvature direction/sign.
+  """
+  # Prepare a data array for processing with absolute curvature values, curvature sign and distances.
+  curv_abs = np.abs(curv)
+  data = np.column_stack((curv_abs, np.sign(curv), dist))
+
+  # Find where curvatures overshoot turn curvature threshold and define as section
+  is_section = curv_abs >= _TURN_CURVATURE_THRESHOLD
+
+  # Find the indexes where the sections start and end. i.e. change indexes.
+  c_idx = np.nonzero(np.diff(is_section))[0] + 1
+
+  # Create independent arrays for each split section base on change indexes.
+  splits = np.array(np.split(data, c_idx), dtype=object)
+
+  # Filter the splits to keep only the curvature section arrays by getting the odd or even split arrays depending
+  # on whether the first split is a curvature split or not.
+  curv_sec_idxs = np.arange(0 if is_section[0] else 1, len(splits), 2, dtype=int)
+  curv_secs = splits[curv_sec_idxs]
+
+  # Further split the curv sections by sign change
+  sub_secs = [split_speed_section_by_sign(cs) for cs in curv_secs]
+  curv_secs = [cs for sub_sec in sub_secs for cs in sub_sec]
+
+  # Further split the curv sections by degree of curvature
+  sub_secs = [split_speed_section_by_curv_degree(cs) for cs in curv_secs]
+  curv_secs = [cs for sub_sec in sub_secs for cs in sub_sec]
+
+  # Return an array where each row represents a turn speed limit section.
+  # [start, end, speed_limit, curvature_sign]
+  return np.array([speed_section(cs) for cs in curv_secs])
+
+def is_wr_a_valid_divertion_from_node(wr, node_id, wr_ids):
+  """
+  Evaluates if the way relation `wr` is a valid diversion from node with id `node_id`.
+  A valid diversion is a way relation with an edge node with the given `node_id` that is not already included
+  in the list of way relations in the route (`wr_ids`) and that can be travaled in the direction as if starting
+  from node with id `node_id`
+  """
+  if wr.id in wr_ids:
+    return False
+  wr.update_direction_from_starting_node(node_id)
+  return not wr.is_prohibited
+
+
+class SpeedLimitSection():
+  """And object representing a speed limited road section ahead.
+  provides the start and end distance and the speed limit value
+  """
+  def __init__(self, start, end, value):
+    self.start = start
+    self.end = end
+    self.value = value
+
+  def __repr__(self):
+    return f'from: {self.start}, to: {self.end}, limit: {self.value}'
+
+
+class TurnSpeedLimitSection(SpeedLimitSection):
+  def __init__(self, start, end, value, sign):
+    super().__init__(start, end, value)
+    self.curv_sign = sign
+
+  def __repr__(self):
+    return f'{super().__repr__()}, sign: {self.curv_sign}'
+
+
+class NodeDataIdx(Enum):
+  """Column index for data elements on NodesData underlying data store.
+  """
+  node_id = 0
+  lat = 1
+  lon = 2
+  speed_limit = 3
+  x = 4             # x value of cartesian vector representing the section between last node and this node.
+  y = 5             # y value of cartesian vector representing the section between last node and this node.
+  dist_prev = 6     # distance to previous node.
+  dist_next = 7     # distance to next node
+  dist_route = 8    # cumulative distance on route
+  bearing = 9       # bearing of the vector departing from this node.
+
+
+class NodesData:
+  """Container for the list of node data from a ordered list of way relations to be used in a Route
+  """
+  def __init__(self, way_relations, wr_index):
+    self._nodes_data = np.array([])
+    self._divertions = [[]]
+    self._curvature_speed_sections_data = np.array([])
+
+    way_count = len(way_relations)
+    if way_count == 0:
+      return
+
+    # We want all the nodes from the last way section
+    nodes_data = nodes_raw_data_array_for_wr(way_relations[-1])
+
+    # For the ways before the last in the route we want all the nodes but the last, as that one is the first on
+    # the next section. Collect them, append last way node data and concatenate the numpy arrays.
+    if way_count > 1:
+      wrs_data = tuple([nodes_raw_data_array_for_wr(wr, drop_last=True) for wr in way_relations[:-1]])
+      wrs_data += (nodes_data,)
+      nodes_data = np.concatenate(wrs_data)
+
+    # Get a subarray with lat, lon to compute the remaining node values.
+    lat_lon_array = nodes_data[:, [1, 2]]
+    points = np.radians(lat_lon_array)
+    # Ensure we have more than 3 points, if not calculations are not possible.
+    if len(points) <= 3:
+      return
+    vect, dist_prev, dist_next, dist_route, bearing = node_calculations(points)
+
+    # append calculations to nodes_data
+    # nodes_data structure: [id, lat, lon, speed_limit, x, y, dist_prev, dist_next, dist_route, bearing]
+    self._nodes_data = np.column_stack((nodes_data, vect, dist_prev, dist_next, dist_route, bearing))
+
+    # Build route diversion options data from the wr_index.
+    wr_ids = [wr.id for wr in way_relations]
+    self._divertions = [[wr for wr in wr_index.way_relations_with_edge_node_id(node_id)
+                        if is_wr_a_valid_divertion_from_node(wr, node_id, wr_ids)]
+                        for node_id in nodes_data[:, 0]]
+
+    # Store calculations for curvature sections speed limits. We need more than 3 points to be able to process.
+    # _curvature_speed_sections_data structure: [dist_start, dist_stop, speed_limits, curv_sign]
+    if len(vect) > 3:
+      curv, curv_ds = spline_curvature_calculations(vect, dist_prev)
+      self._curvature_speed_sections_data = speed_limits_for_curvatures_data(curv, curv_ds)
+
+  @property
+  def count(self):
+    return len(self._nodes_data)
+
+  def get(self, node_data_idx):
+    """Returns the array containing all the elements of a specific NodeDataIdx type.
+    """
+    if len(self._nodes_data) == 0 or node_data_idx.value >= self._nodes_data.shape[1]:
+      return np.array([])
+
+    return self._nodes_data[:, node_data_idx.value]
+
+  def speed_limits_ahead(self, ahead_idx, distance_to_node_ahead):
+    """Returns and array of SpeedLimitSection objects for the actual route ahead of current location
+    """
+    if len(self._nodes_data) == 0 or ahead_idx is None:
+      return []
+
+    # Find the cumulative distances where speed limit changes. Build Speed limit sections for those.
+    dist = np.concatenate(([distance_to_node_ahead], self.get(NodeDataIdx.dist_next)[ahead_idx:]))
+    dist = np.cumsum(dist, axis=0)
+    sl = self.get(NodeDataIdx.speed_limit)[ahead_idx - 1:]
+    sl_next = np.concatenate((sl[1:], [0.]))
+
+    # Create a boolean mask where speed limit changes and filter values
+    sl_change = sl != sl_next
+    distances = dist[sl_change]
+    speed_limits = sl[sl_change]
+
+    # Create speed limits sections combining all continuous nodes that have same speed limit value.
+    start = 0.
+    limits_ahead = []
+    for idx, end in enumerate(distances):
+      limits_ahead.append(SpeedLimitSection(start, end, speed_limits[idx]))
+      start = end
+
+    return limits_ahead
+
+  def distance_to_end(self, ahead_idx, distance_to_node_ahead):
+    if len(self._nodes_data) == 0 or ahead_idx is None:
+      return None
+
+    return np.sum(np.concatenate(([distance_to_node_ahead], self.get(NodeDataIdx.dist_next)[ahead_idx:])))
+
+  def curvatures_speed_limit_sections_ahead(self, ahead_idx, distance_to_node_ahead):
+    """Returns and array of TurnSpeedLimitSection objects for the actual route ahead of current location for
+       speed limit sections due to curvatures in the road.
+    """
+    if len(self._curvature_speed_sections_data) == 0 or ahead_idx is None:
+      return []
+
+    # Find the current distance traveled so far on the route.
+    dist_curr = self.get(NodeDataIdx.dist_route)[ahead_idx] - distance_to_node_ahead
+
+    # Filter the sections to get only those where the stop distance is ahead of current.
+    sec_filter = self._curvature_speed_sections_data[:, 1] > dist_curr
+    data = self._curvature_speed_sections_data[sec_filter]
+
+    # Offset distances to current distance.
+    data[:, [0, 1]] -= dist_curr
+
+    # Create speed limits sections
+    limits_ahead = [TurnSpeedLimitSection(max(0., d[0]), d[1], d[2], d[3]) for d in data]
+
+    return limits_ahead
+
+  def possible_divertions(self, ahead_idx, distance_to_node_ahead):
+    """ Returns and array with the way relations the route could possible divert to by finding
+        the alternative way diversions on the nodes in the vicinity of the current location.
+    """
+    if len(self._nodes_data) == 0 or ahead_idx is None:
+      return []
+
+    dist_route = self.get(NodeDataIdx.dist_route)
+    rel_dist = dist_route - dist_route[ahead_idx] + distance_to_node_ahead
+    valid_idxs = np.nonzero(np.logical_and(rel_dist >= _DIVERTION_SEARCH_RANGE[0],
+                            rel_dist <= _DIVERTION_SEARCH_RANGE[1]))[0]
+    valid_divertions = [self._divertions[i] for i in valid_idxs]
+
+    return [wr for wrs in valid_divertions for wr in wrs]  # flatten.
+
+  def distance_to_node(self, node_id, ahead_idx, distance_to_node_ahead):
+    """
+    Provides the distance to a specific node in the route identified by `node_id` in reference to the node ahead
+    (`ahead_idx`) and the distance from current location to the node ahead (`distance_to_node_ahead`).
+    """
+    node_ids = self.get(NodeDataIdx.node_id)
+    node_idxs = np.nonzero(node_ids == node_id)[0]
+    if len(self._nodes_data) == 0 or ahead_idx is None or len(node_idxs) == 0:
+      return None
+
+    return self.get(NodeDataIdx.dist_route)[node_idxs[0]] - self.get(NodeDataIdx.dist_route)[ahead_idx] + \
+      distance_to_node_ahead
diff --git a/selfdrive/mapd/lib/Route.py b/selfdrive/mapd/lib/Route.py
new file mode 100644
index 00000000000000..d1b48baae96666
--- /dev/null
+++ b/selfdrive/mapd/lib/Route.py
@@ -0,0 +1,340 @@
+from openpilot.selfdrive.mapd.lib.NodesData import NodesData, NodeDataIdx
+from openpilot.selfdrive.mapd.config import QUERY_RADIUS
+from openpilot.selfdrive.mapd.lib.geo import ref_vectors, R, distance_to_points
+from itertools import compress
+import numpy as np
+
+
+_ACCEPTABLE_BEARING_DELTA_COSINE = -0.7  # Continuation paths with a bearing of 180 +/- 45 degrees.
+_MAX_ALLOWED_BEARING_DELTA_COSINE_AT_EDGE = -0.3420  # bearing delta at route edge must be 180 +/- 70 degrees.
+_MAP_DATA_EDGE_DISTANCE = 50  # mts. Consider edge of map data from this distance to edge of query radius.
+
+
+class Route():
+  """A set of consecutive way relations forming a default driving route.
+  """
+  def __init__(self, current, wr_index, way_collection_id, query_center):
+    """Create a Route object from a given `wr_index` (Way relation index)
+
+    Args:
+        current (WayRelation): The Way Relation that is currently located. It must be active.
+        wr_index (WayRelationIndex): The indexes of WayRelations by node id.
+        way_collection_id (UUID): The id of the Way Collection that created this Route.
+        query_center (Numpy Array): lat, lon] numpy array in radians indicating the center of the data query.
+    """
+    self.way_collection_id = way_collection_id
+    self._ordered_way_relations = []
+    self._nodes_data = None
+    self._reset()
+
+    # An active current way is needed to be able to build a route
+    if not current.active:
+      return
+
+    # Build the route by finding iteratavely the best matching ways continuing after the end of the
+    # current (last_wr) way. Use the index to find the continuation possibilities on each iteration.
+    last_wr = current
+    ordered_way_ids = []
+    split_wrs = []
+    while True:
+      # - Append current element to the route list of ordered way relations.
+      self._ordered_way_relations.append(last_wr)
+      ordered_way_ids.append(last_wr.id)
+
+      # - Get the id of the node at the end of the way and then fetch the way relations that share the end node id.
+      last_node_id = last_wr.last_node.id
+      way_relations = wr_index.way_relations_with_edge_node_id(last_node_id)
+
+      # - Add split way relations when necessary and remove parent way relations.
+      split_wrs_to_add = [wr for wr in split_wrs if last_node_id in wr.edge_nodes_ids]
+      way_relations.extend(split_wrs_to_add)
+      parent_ids = [wr.parent_wr_id for wr in split_wrs_to_add]
+      way_relations = [wr for wr in way_relations if wr.id not in parent_ids]
+
+      # - If no more way_relations than last_wr, we have to check if we join another wr on an internal node, and
+      # if we do, we replace such way relation with the split of it and continue.
+      if len(way_relations) == 1:
+        way_relations = wr_index.way_relations_with_node_id(last_node_id)
+        # If no more way_relations than last_wr or its parent, we got to the end.
+        if len(way_relations) == 1:
+          break
+
+        # If last_wr is a split, replace its parent with last_wr
+        way_relations = [last_wr if wr is last_wr.parent else wr for wr in way_relations]
+
+        # If we join a wr on an internal node, then we artificially split the wr in two and pass both wrs as
+        # candidates to the wr selection code below.
+        wr_to_split = [wr for wr in way_relations if wr is not last_wr][0]
+        next_split_way_id = -len(split_wrs) - 1  # Keep split wrs ids unique on Route
+        new_wrs = wr_to_split.split(last_node_id, [next_split_way_id, next_split_way_id - 1])
+        # If it could not be split, we are done.
+        if len(new_wrs) != 2:
+          break
+
+        # Replace the original way relation for the split version on way_relations and track split wrs.
+        split_wrs.extend(new_wrs)
+        way_relations.remove(wr_to_split)
+        way_relations.extend(new_wrs)
+
+      # - Get the coordinates for the edge node and build the array of coordinates for the nodes before the edge node
+      # on each of the common way relations, then get the vectors in cartesian plane for the end sections of each way.
+      ref_point = last_wr.last_node_coordinates
+      points = np.array([wr.node_before_edge_coordinates(last_node_id) for wr in way_relations])
+      v = ref_vectors(ref_point, points) * R
+
+      # - Calculate the bearing (from true north clockwise) for every end section of each way.
+      b = np.arctan2(v[:, 0], v[:, 1])
+
+      # - Find index of las_wr section and calculate deltas of bearings to the other sections.
+      last_wr_idx = way_relations.index(last_wr)
+      b_ref = b[last_wr_idx]
+      delta = b - b_ref
+
+      # - Update the direction of the possible route continuation ways as starting from last_node_id.
+      # Make sure to exclude any ways already included in the ordered list as to not modify direction when there
+      # are looping roads (like roundabouts). A way will never be included twice in a route anyway.
+      for wr in way_relations:
+        if wr.id not in ordered_way_ids:
+          wr.update_direction_from_starting_node(last_node_id)
+
+      # - Filter the possible route continuation way relations:
+      #   - exclude any way already added to the ordered list.
+      #   - exclude all way relations that are prohibited due to traffic direction.
+      mask = [wr.id not in ordered_way_ids and not wr.is_prohibited for wr in way_relations]
+      way_relations = list(compress(way_relations, mask))
+      delta = delta[mask]
+
+      # if no options left, we got to the end.
+      if len(way_relations) == 0:
+        break
+
+      # - The cosine of the bearing delta will aid us in choosing the way that continues. The cosine is
+      # minimum (-1) for a perfect straight continuation as delta would be pi or -pi.
+      cos_delta = np.cos(delta)
+
+      def pick_best_idx(cos_delta, way_relations_, last_wr_):
+        """Selects the best index on `cos_delta` array for a way that continues the route.
+        In principle we want to choose the way that continues as straight as possible.
+        Bue we need to make sure that if there are 2 or more ways continuing relatively straight, then we
+        need to disambiguate, either by matching the `ref` or `name` value of the continuing way with the
+        last way selected.
+        This can prevent cases where the chosen route could be for instance an exit ramp of a way due to the fact
+        that the ramp has a better match on bearing to previous way. We choose to stay on the road with the same `ref`
+        or `name` value if available.
+        If there is no ambiguity or there are no `name` or `ref` values to disambiguate, then we pick the one with
+        the straightest following direction.
+        """
+        # Find the indexes of the cosine of the deltas that are considered straight enough to continue.
+        idxs = np.nonzero(cos_delta < _ACCEPTABLE_BEARING_DELTA_COSINE)[0]
+
+        # If no amiguity or no way to break it, just return the straightest line.
+        if len(idxs) <= 1 or (last_wr_.ref is None and last_wr_.name is None):
+          # The section with the best continuation is the one with a bearing delta closest to pi. This is equivalent
+          # to taking the one with the smallest cosine of the bearing delta, as cosine is minimum (-1) on both pi
+          # and -pi.
+          return np.argmin(cos_delta)
+
+        wrs = [way_relations_[idx] for idx in idxs]
+
+        # If we find a continuation way with the same reference we just choose it.
+        refs = [wr.ref for wr in wrs]
+        if last_wr_.ref is not None:
+          idx = next((idx for idx, ref in enumerate(refs) if ref == last_wr_.ref), None)
+          if idx is not None:
+            return idxs[idx]
+
+        # If we find a continuation way with the same name we just choose it.
+        names = [wr.name for wr in wrs]
+        if last_wr_.name is not None:
+          idx = next((idx for idx, name in enumerate(names) if name == last_wr_.name), None)
+          if idx is not None:
+            return idxs[idx]
+
+        # We did not manage to disambiguate, choose straightest path.
+        return np.argmin(cos_delta)
+
+      # Get the index of the continuation way.
+      best_idx = pick_best_idx(cos_delta, way_relations, last_wr)
+
+      # - Make sure to not select as route continuation a way that turns too much if we are close to the border of
+      # map data queried. This is to avoid building a route that takes a sharp turn just because we do not have the
+      # data for the way that actually continues straight.
+      if cos_delta[best_idx] > _MAX_ALLOWED_BEARING_DELTA_COSINE_AT_EDGE:
+        dist_to_center = distance_to_points(query_center, np.array([ref_point]))[0]
+        if dist_to_center > QUERY_RADIUS - _MAP_DATA_EDGE_DISTANCE:
+          break
+
+      # - Select next way.
+      last_wr = way_relations[best_idx]
+
+    # Build the node data from the ordered list of way relations
+    self._nodes_data = NodesData(self._ordered_way_relations, wr_index)
+
+    # Locate where we are in the route node list.
+    self._locate()
+
+  def __repr__(self):
+    count = self._nodes_data.count if self._nodes_data is not None else None
+    return f'Route: {self.way_collection_id}, idx ahead: {self._ahead_idx} of {count}'
+
+  def _reset(self):
+    self._limits_ahead = None
+    self._cuvature_limits_ahead = None
+    self._curvatures_ahead = None
+    self._ahead_idx = None
+    self._distance_to_node_ahead = None
+
+  @property
+  def located(self):
+    return self._ahead_idx is not None
+
+  def _locate(self):
+    """Will resolve the index in the nodes_data list for the node ahead of the current location.
+       It updates as well the distance from the current location to the node ahead.
+    """
+    current = self.current_wr
+    if current is None:
+      return
+
+    node_ahead_id = current.node_ahead.id
+    self._distance_to_node_ahead = current.distance_to_node_ahead
+    start_idx = self._ahead_idx if self._ahead_idx is not None else 1
+    self._ahead_idx = None
+
+    ids = self._nodes_data.get(NodeDataIdx.node_id)
+    for idx in range(start_idx, len(ids)):
+      if ids[idx] == node_ahead_id:
+        self._ahead_idx = idx
+        break
+
+  @property
+  def current_wr(self):
+    return self._ordered_way_relations[0] if len(self._ordered_way_relations) else None
+
+  def update(self, location_rad, bearing_rad, location_stdev):
+    """Will update the route structure based on the given `location_rad` and `bearing_rad` assuming progress on the
+    route on the original direction. If direction has changed or active point on the route can not be found, the route
+    will become invalid.
+    """
+    if len(self._ordered_way_relations) == 0 or location_rad is None or bearing_rad is None:
+      return
+
+    # Skip if no update on location or bearing.
+    if np.array_equal(self.current_wr.location_rad, location_rad) and self.current_wr.bearing_rad == bearing_rad:
+      return
+
+    # Transverse the way relations on the actual order until we find an active one. From there, rebuild the route
+    # with the way relations remaining ahead.
+    for idx, wr in enumerate(self._ordered_way_relations):
+      active_direction = wr.direction
+      wr.update(location_rad, bearing_rad, location_stdev)
+
+      if not wr.active:
+        continue
+
+      if wr.direction != active_direction:
+        # Driving direction on the route has changed. stop.
+        break
+
+      # We have now the current wr. Repopulate from here till the end and locate
+      self._ordered_way_relations = self._ordered_way_relations[idx:]
+      self._reset()
+      self._locate()
+
+      # If the active way is diverting, check whether there are possibilities to divert from the route in the
+      # vecinity of the current location. If there are possibilities, then stop here to loose the route as we are
+      # most likely driving away. If there are no possibilities, then stick to the route as the diversion is probably
+      # just a matter of GPS accuracy. (It can happen after driving under a bridge)
+      if wr.diverting and len(self._nodes_data.possible_divertions(self._ahead_idx, self._distance_to_node_ahead)) > 0:
+        break
+
+      # The current location in route is valid, return.
+      return
+
+    # if we got here, there is no new active way relation or driving direction has changed. Reset.
+    self._reset()
+
+  @property
+  def speed_limits_ahead(self):
+    """Returns and array of SpeedLimitSection objects for the actual route ahead of current location
+    """
+    if self._limits_ahead is not None:
+      return self._limits_ahead
+
+    if self._nodes_data is None or self._ahead_idx is None:
+      return []
+
+    self._limits_ahead = self._nodes_data.speed_limits_ahead(self._ahead_idx, self._distance_to_node_ahead)
+    return self._limits_ahead
+
+  @property
+  def curvature_speed_limits_ahead(self):
+    """Returns and array of TurnSpeedLimitSection objects for the actual route ahead of current location due
+    to curvatures
+    """
+    if self._cuvature_limits_ahead is not None:
+      return self._cuvature_limits_ahead
+
+    if self._nodes_data is None or self._ahead_idx is None:
+      return []
+
+    self._cuvature_limits_ahead = self._nodes_data. \
+      curvatures_speed_limit_sections_ahead(self._ahead_idx, self._distance_to_node_ahead)
+
+    return self._cuvature_limits_ahead
+
+  @property
+  def current_speed_limit(self):
+    if not self.located:
+      return None
+
+    limits_ahead = self.speed_limits_ahead
+    if len(limits_ahead) == 0 or limits_ahead[0].start != 0:
+      return None
+
+    return limits_ahead[0].value
+
+  @property
+  def current_curvature_speed_limit_section(self):
+    if not self.located:
+      return None
+
+    limits_ahead = self.curvature_speed_limits_ahead
+    if len(limits_ahead) == 0 or limits_ahead[0].start != 0:
+      return None
+
+    return limits_ahead[0]
+
+  @property
+  def next_speed_limit_section(self):
+    if not self.located:
+      return None
+
+    limits_ahead = self.speed_limits_ahead
+    if len(limits_ahead) == 0:
+      return None
+
+    # Find the first section that does not start in 0. i.e. the next section
+    for section in limits_ahead:
+      if section.start > 0:
+        return section
+
+    return None
+
+  def next_curvature_speed_limit_sections(self, horizon_mts):
+    if not self.located:
+      return []
+
+    # Provide the curvature speed sections that start ahead (> 0) and up to horizon
+    return list(filter(lambda la: la.start > 0 and la.start <= horizon_mts, self.curvature_speed_limits_ahead))
+
+  @property
+  def distance_to_end(self):
+    if not self.located:
+      return None
+
+    return self._nodes_data.distance_to_end(self._ahead_idx, self._distance_to_node_ahead)
+
+  @property
+  def current_road_name(self):
+    return self.current_wr.road_name if self.located else None
diff --git a/selfdrive/mapd/lib/WayCollection.py b/selfdrive/mapd/lib/WayCollection.py
new file mode 100644
index 00000000000000..829e5b9ca9440c
--- /dev/null
+++ b/selfdrive/mapd/lib/WayCollection.py
@@ -0,0 +1,85 @@
+from openpilot.selfdrive.mapd.lib.WayRelation import WayRelation
+from openpilot.selfdrive.mapd.lib.WayRelationIndex import WayRelationIndex
+from openpilot.selfdrive.mapd.lib.Route import Route
+from openpilot.selfdrive.mapd.config import LANE_WIDTH
+import uuid
+
+
+_ACCEPTABLE_BEARING_DELTA_IND = 0.7071067811865475  # sin(pi/4) | 45 degrees acceptable bearing delta
+
+
+class WayCollection():
+  """A collection of WayRelations to use for maps data analysis.
+  """
+  def __init__(self, ways, query_center):
+    """Creates a WayCollection with a set of OSM way objects.
+
+    Args:
+        ways (Array): Collection of Way objects fetched from OSM in a radius around `query_center`
+        query_center (Numpy Array): [lat, lon] numpy array in radians indicating the center of the data query.
+    """
+    self.id = uuid.uuid4()
+    self.way_relations = [WayRelation(way) for way in ways]
+    self.query_center = query_center
+
+    self.wr_index = WayRelationIndex(self.way_relations)
+
+  def get_route(self, location_rad, bearing_rad, location_stdev):
+    """Provides the best route found in the way collection based on current location and bearing.
+    """
+    if location_rad is None or bearing_rad is None or location_stdev is None:
+      return None
+
+    # Update all way relations in collection to the provided location and bearing.
+    for wr in self.way_relations:
+      wr.update(location_rad, bearing_rad, location_stdev)
+
+    # Get the way relations where a match was found. i.e. those now marked as active as long as the direction of
+    # travel is valid.
+    valid_way_relations = [wr for wr in self.way_relations if wr.active and not wr.is_prohibited]
+
+    # If no active, then we could not find a current way to build a route.
+    if len(valid_way_relations) == 0:
+      return None
+
+    # If only one valid, then pick it as current.
+    if len(valid_way_relations) == 1:
+      current = valid_way_relations[0]
+
+    # If more than one is valid, filter out any valid way relation where the bearing delta indicator is too high.
+    else:
+      wr_acceptable_bearing = list(filter(lambda wr: wr.active_bearing_delta <= _ACCEPTABLE_BEARING_DELTA_IND,
+                                          valid_way_relations))
+
+      # If delta bearing indicator is too high for all, then use as current the one that has the shorter one.
+      if len(wr_acceptable_bearing) == 0:
+        valid_way_relations.sort(key=lambda wr: wr.active_bearing_delta)
+        current = valid_way_relations[0]
+
+      # If only one with acceptable bearing, use it.
+      elif len(wr_acceptable_bearing) == 1:
+        current = wr_acceptable_bearing[0]
+
+      else:
+        # If more than one with acceptable bearing, filter the ones with distance to way lower than 2 standard
+        # deviation from GPS accuracy (95%) + half the road width estimate.
+        wr_accurate_distance = [wr for wr in wr_acceptable_bearing
+                                if wr.distance_to_way <= 2. * location_stdev + wr.lanes * LANE_WIDTH / 2.]
+
+        # If none with accurate distance to way, then select the closest to the way
+        if len(wr_accurate_distance) == 0:
+          wr_acceptable_bearing.sort(key=lambda wr: wr.distance_to_way)
+          current = wr_acceptable_bearing[0]
+
+        # If only one with distance under accuracy, select this one.
+        elif len(wr_accurate_distance) == 1:
+          current = wr_accurate_distance[0]
+
+        # If more than one with distance under accuracy. Then select the one with lowest highway rank.
+        # i.e. preferred motorways over other roads and so on. This is to prevent selecting a small parallel
+        # road to a main road when the accuracy is poor.
+        else:
+          wr_accurate_distance.sort(key=lambda wr: wr.highway_rank)
+          current = wr_accurate_distance[0]
+
+    return Route(current, self.wr_index, self.id, self.query_center)
diff --git a/selfdrive/mapd/lib/WayRelation.py b/selfdrive/mapd/lib/WayRelation.py
new file mode 100644
index 00000000000000..7785faf5bb5b19
--- /dev/null
+++ b/selfdrive/mapd/lib/WayRelation.py
@@ -0,0 +1,421 @@
+from openpilot.selfdrive.mapd.lib.geo import DIRECTION, R, vectors, bearing_to_points, distance_to_points
+from openpilot.selfdrive.mapd.lib.osm import create_way
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.mapd.config import LANE_WIDTH
+from openpilot.common.basedir import BASEDIR
+from datetime import datetime as dt
+import numpy as np
+import re
+import json
+
+
+_WAY_BBOX_PADING = 80. / R  # 80 mts of padding to bounding box. (expressed in radians)
+
+
+with open(BASEDIR + "/selfdrive/mapd/lib/default_speeds.json", "rb") as f:
+  _COUNTRY_LIMITS = json.loads(f.read())
+
+
+_WD = {
+  'Mo': 0,
+  'Tu': 1,
+  'We': 2,
+  'Th': 3,
+  'Fr': 4,
+  'Sa': 5,
+  'Su': 6
+}
+
+_HIGHWAY_RANK = {
+  'motorway': 0,
+  'motorway_link': 1,
+  'trunk': 10,
+  'trunk_link': 11,
+  'primary': 20,
+  'primary_link': 21,
+  'secondary': 30,
+  'secondary_link': 31,
+  'tertiary': 40,
+  'tertiary_link': 41,
+  'unclassified': 50,
+  'residential': 60,
+  'living_street': 61
+}
+
+
+def is_osm_time_condition_active(condition_string):
+  """
+  Will indicate if a time condition for a restriction as described
+  @ https://wiki.openstreetmap.org/wiki/Conditional_restrictions
+  is active for the current date and time of day.
+  """
+  now = dt.now().astimezone()
+  today = now.date()
+  week_days = []
+
+  # Look for days of week matched and validate if today matches criteria.
+  dr = re.findall(r'(Mo|Tu|We|Th|Fr|Sa|Su[-,\s]*?)', condition_string)
+
+  if len(dr) == 1:
+    week_days = [_WD[dr[0]]]
+  # If two or more matches condider it a range of days between 1st and 2nd element.
+  elif len(dr) > 1:
+    week_days = list(range(_WD[dr[0]], _WD[dr[1]] + 1))
+
+  # If valid week days list is not empty and today day is not in the list, then the time-date range is not active.
+  if len(week_days) > 0 and now.weekday() not in week_days:
+    return False
+
+  # Look for time ranges on the day. No time range, means all day
+  tr = re.findall(r'([0-9]{1,2}:[0-9]{2})\s*?-\s*?([0-9]{1,2}:[0-9]{2})', condition_string)
+
+  # if no time range but there were week days set, consider it active during the whole day
+  if len(tr) == 0:
+    return len(dr) > 0
+
+  # Search among time ranges matched, one where now time belongs too. If found range is active.
+  for times_tup in tr:
+    times = [dt.combine(today, dt.strptime(tt, '%H:%M').time().replace(tzinfo=now.tzinfo)) for tt in times_tup]
+    if now >= times[0] and now <= times[1]:
+      return True
+
+  return False
+
+
+def speed_limit_value_for_limit_string(limit_string):
+  # Look for matches of speed by default in kph, or in mph when explicitly noted.
+  v = re.match(r'^\s*([0-9]{1,3})\s*?(mph)?\s*$', limit_string)
+  if v is None:
+    return None
+  conv = CV.MPH_TO_MS if v[2] is not None and v[2] == "mph" else CV.KPH_TO_MS
+  return conv * float(v[1])
+
+
+def speed_limit_for_osm_tag_limit_string(limit_string):
+  # https://wiki.openstreetmap.org/wiki/Key:maxspeed
+  if limit_string is None:
+    # When limit is set to 0. is considered not existing.
+    return 0.
+
+  # Attempt to parse limit as simple numeric value considering units.
+  limit = speed_limit_value_for_limit_string(limit_string)
+  if limit is not None:
+    return limit
+
+  # Look for matches of speed with country implicit values.
+  v = re.match(r'^\s*([A-Z]{2}):([a-z_]+):?([0-9]{1,3})?(\s+)?(mph)?\s*', limit_string)
+  if v is None:
+    return 0.
+
+  if v[2] == "zone" and v[3] is not None:
+    conv = CV.MPH_TO_MS if v[5] is not None and v[5] == "mph" else CV.KPH_TO_MS
+    limit = conv * float(v[3])
+  elif f'{v[1]}:{v[2]}' in _COUNTRY_LIMITS:
+    limit = speed_limit_value_for_limit_string(_COUNTRY_LIMITS[f'{v[1]}:{v[2]}'])
+
+  return limit if limit is not None else 0.
+
+
+def conditional_speed_limit_for_osm_tag_limit_string(limit_string):
+  if limit_string is None:
+    # When limit is set to 0. is considered not existing.
+    return 0.
+
+  # Look for matches of the `<restriction-value> @ (<condition>)` format
+  v = re.match(r'^(.*)@\s*\((.*)\).*$', limit_string)
+  if v is None:
+    return 0.  # No valid format match
+
+  value = speed_limit_for_osm_tag_limit_string(v[1])
+  if value == 0.:
+    return 0.  # Invalid speed limit value
+
+  # Look for date-time conditions separated by semicolon
+  v = re.findall(r'(?:;|^)([^;]*)', v[2])
+  for datetime_condition in v:
+    if is_osm_time_condition_active(datetime_condition):
+      return value
+
+  # If we get here, no current date-time condition is active.
+  return 0.
+
+
+class WayRelation():
+  """A class that represent the relationship of an OSM way and a given `location` and `bearing` of a driving vehicle.
+  """
+  def __init__(self, way, parent=None):
+    self.way = way
+    self.parent = parent
+    self.parent_wr_id = parent.id if parent is not None else None  # For WRs created as splits of other WRs
+    self.reset_location_variables()
+    self.direction = DIRECTION.NONE
+    self._speed_limit = None
+    self._one_way = way.tags.get("oneway")
+    self.name = way.tags.get('name')
+    self.ref = way.tags.get('ref')
+    self.highway_type = way.tags.get("highway")
+    self.highway_rank = _HIGHWAY_RANK.get(self.highway_type, 1000)
+    try:
+      self.lanes = int(way.tags.get('lanes'))
+    except Exception:
+      self.lanes = 2
+
+    # Create numpy arrays with nodes data to support calculations.
+    self._nodes_np = np.radians(np.array([[node.lat, node.lon] for node in way.nodes], dtype=float))
+    self._nodes_ids = np.array([node.id for node in way .nodes], dtype=int)
+
+    # Get the vectors representation of the segments betwheen consecutive nodes. (N-1, 2)
+    v = vectors(self._nodes_np) * R
+
+    # Calculate the vector magnitudes (or distance) between nodes. (N-1)
+    self._way_distances = np.linalg.norm(v, axis=1)
+
+    # Calculate the bearing (from true north clockwise) for every section of the way (vectors between nodes). (N-1)
+    self._way_bearings = np.arctan2(v[:, 0], v[:, 1])
+
+    # Define bounding box to ease the process of locating a node in a way.
+    # [[min_lat, min_lon], [max_lat, max_lon]]
+    self.bbox = np.row_stack((np.amin(self._nodes_np, 0) - _WAY_BBOX_PADING,
+                              np.amax(self._nodes_np, 0) + _WAY_BBOX_PADING))
+
+    # Get the edge nodes ids.
+    self.edge_nodes_ids = [way.nodes[0].id, way.nodes[-1].id]
+
+  def __repr__(self):
+    return f'(id: {self.wr_id}, between {self.behind_idx} and {self.ahead_idx}, {self.direction}, active: {self.active})'
+
+  def __eq__(self, other):
+    if isinstance(other, WayRelation):
+      return self.wr_id == other.wr_id
+    return False
+
+  def reset_location_variables(self):
+    self.distance_to_node_ahead = 0.
+    self.location_rad = None
+    self.bearing_rad = None
+    self.active = False
+    self.diverting = False
+    self.ahead_idx = None
+    self.behind_idx = None
+    self._active_bearing_delta = None
+    self._distance_to_way = None
+
+  @property
+  def wr_id(self):
+    return self.way.id
+
+  @property
+  def road_name(self):
+    if self.name is not None:
+      return self.name
+    return self.ref
+
+  def update(self, location_rad, bearing_rad, location_stdev):
+    """Will update and validate the associated way with a given `location_rad` and `bearing_rad`.
+       Specifically it will find the nodes behind and ahead of the current location and bearing.
+       If no proper fit to the way geometry, the way relation is marked as invalid.
+    """
+    self.reset_location_variables()
+
+    # Ignore if location not in way bounding box
+    if not self.is_location_in_bbox(location_rad):
+      return
+
+    # - Get the distance and bearings from location to all nodes. (N)
+    bearings = bearing_to_points(location_rad, self._nodes_np)
+    distances = distance_to_points(location_rad, self._nodes_np)
+
+    # - Get absolute bearing delta to current driving bearing. (N)
+    delta = np.abs(bearing_rad - bearings)
+
+    # - Nodes are ahead if the cosine of the delta is positive (N)
+    is_ahead = np.cos(delta) >= 0.
+
+    # - Possible locations on the way are those where adjacent nodes change from ahead to behind or vice-versa.
+    possible_idxs = np.nonzero(np.diff(is_ahead))[0]
+
+    # - when no possible locations found, then the location is not in this way.
+    if len(possible_idxs) == 0:
+      return
+
+    # - Find then angle formed between the vectors from the current location to consecutive nodes. This is the
+    # value of the difference in the bearings of the vectors.
+    teta = np.diff(bearings)
+
+    # - When two consecutive nodes will be ahead and behind, they will form a triangle with the current location.
+    # We find the closest distance to the way by solving the area of the triangle and finding the height (h).
+    # We must use the absolute value of the sin of the angle in the formula, which is equivalent to ensure we
+    # are considering the smallest of the two angles formed between the two vectors.
+    # https://www.mathsisfun.com/algebra/trig-area-triangle-without-right-angle.html
+    h = distances[:-1] * distances[1:] * np.abs(np.sin(teta)) / self._way_distances
+
+    # - Calculate the delta between driving bearing and way bearings. (N-1)
+    bw_delta = self._way_bearings - bearing_rad
+
+    # - The absolute value of the sin of `bw_delta` indicates how close the bearings match independent of direction.
+    # We will use this value along the distance to the way to aid on way selection. (N-1)
+    abs_sin_bw_delta = np.abs(np.sin(bw_delta))
+
+    # - Get the delta to way bearing indicators and the distance to the way for the possible locations.
+    abs_sin_bw_delta_possible = abs_sin_bw_delta[possible_idxs]
+    h_possible = h[possible_idxs]
+
+    # - Get the index where the distance to the way is minimum. That is the chosen location.
+    min_h_possible_idx = np.argmin(h_possible)
+    min_delta_idx = possible_idxs[min_h_possible_idx]
+
+    # - If the distance to the way is over 4 standard deviations of the gps accuracy + half the maximum road width
+    # estimate, then we are way too far to stick to this way (i.e. we are not on this way anymore)
+    half_road_width_estimate = self.lanes * LANE_WIDTH / 2.
+    if h_possible[min_h_possible_idx] > 4. * location_stdev + half_road_width_estimate:
+      return
+
+    # - If the distance to the road is greater than 2 standard deviations of the gps accuracy + half the maximum road
+    # width estimate then we are most likely diverting from this route.
+    diverting = h_possible[min_h_possible_idx] > 2. * location_stdev + half_road_width_estimate
+
+    # Populate location variables with result
+    if is_ahead[min_delta_idx]:
+      self.direction = DIRECTION.BACKWARD
+      self.ahead_idx = min_delta_idx
+      self.behind_idx = min_delta_idx + 1
+    else:
+      self.direction = DIRECTION.FORWARD
+      self.ahead_idx = min_delta_idx + 1
+      self.behind_idx = min_delta_idx
+
+    self._distance_to_way = h[min_delta_idx]
+    self._active_bearing_delta = abs_sin_bw_delta_possible[min_h_possible_idx]
+    # TODO: The distance to node ahead currently represent the distance from the GPS fix location.
+    # It would be perhaps more accurate to use the distance on the projection over the direct line between
+    # the two nodes.
+    self.distance_to_node_ahead = distances[self.ahead_idx]
+    self.active = True
+    self.diverting = diverting
+    self.location_rad = location_rad
+    self.bearing_rad = bearing_rad
+    self._speed_limit = None
+
+  def update_direction_from_starting_node(self, start_node_id):
+    self._speed_limit = None
+    if self.edge_nodes_ids[0] == start_node_id:
+      self.direction = DIRECTION.FORWARD
+    elif self.edge_nodes_ids[-1] == start_node_id:
+      self.direction = DIRECTION.BACKWARD
+    else:
+      self.direction = DIRECTION.NONE
+
+  def is_location_in_bbox(self, location_rad):
+    """Indicates if a given location is contained in the bounding box surrounding the way.
+       self.bbox = [[min_lat, min_lon], [max_lat, max_lon]]
+    """
+    is_g = np.greater_equal(location_rad, self.bbox[0, :])
+    is_l = np.less_equal(location_rad, self.bbox[1, :])
+
+    return np.all(np.concatenate((is_g, is_l)))
+
+  @property
+  def speed_limit(self):
+    if self._speed_limit is not None:
+      return self._speed_limit
+
+    # Get string from corresponding tag, consider conditional limits first.
+    limit_string = self.way.tags.get("maxspeed:conditional")
+    if limit_string is None:
+      if self.direction == DIRECTION.FORWARD:
+        limit_string = self.way.tags.get("maxspeed:forward:conditional")
+      elif self.direction == DIRECTION.BACKWARD:
+        limit_string = self.way.tags.get("maxspeed:backward:conditional")
+
+    limit = conditional_speed_limit_for_osm_tag_limit_string(limit_string)
+
+    # When no conditional limit set, attempt to get from regular speed limit tags.
+    if limit == 0.:
+      limit_string = self.way.tags.get("maxspeed")
+      if limit_string is None:
+        if self.direction == DIRECTION.FORWARD:
+          limit_string = self.way.tags.get("maxspeed:forward")
+        elif self.direction == DIRECTION.BACKWARD:
+          limit_string = self.way.tags.get("maxspeed:backward")
+
+      limit = speed_limit_for_osm_tag_limit_string(limit_string)
+
+    self._speed_limit = limit
+    return self._speed_limit
+
+  @property
+  def active_bearing_delta(self):
+    """Returns the sine of the delta between the current location bearing and the exact
+       bearing of the portion of way we are currentluy located at.
+    """
+    return self._active_bearing_delta
+
+  @property
+  def is_one_way(self):
+    return self._one_way in ['yes'] or self.highway_type in ["motorway"]
+
+  @property
+  def is_prohibited(self):
+    # Direction must be defined to asses this property. Default to `True` if not.
+    if self.direction == DIRECTION.NONE:
+      return True
+    return self.is_one_way and self.direction == DIRECTION.BACKWARD
+
+  @property
+  def distance_to_way(self):
+    """Returns the perpendicular (i.e. minimum) distance between current location and the way
+    """
+    return self._distance_to_way
+
+  @property
+  def node_ahead(self):
+    return self.way.nodes[self.ahead_idx] if self.ahead_idx is not None else None
+
+  @property
+  def last_node(self):
+    """Returns the last node on the way considering the traveling direction
+    """
+    if self.direction == DIRECTION.FORWARD:
+      return self.way.nodes[-1]
+    if self.direction == DIRECTION.BACKWARD:
+      return self.way.nodes[0]
+    return None
+
+  @property
+  def last_node_coordinates(self):
+    """Returns the coordinates for the last node on the way considering the traveling direction. (in radians)
+    """
+    if self.direction == DIRECTION.FORWARD:
+      return self._nodes_np[-1]
+    if self.direction == DIRECTION.BACKWARD:
+      return self._nodes_np[0]
+    return None
+
+  def node_before_edge_coordinates(self, node_id):
+    """Returns the coordinates of the node before the edge node identified with `node_id`. (in radians)
+    """
+    if self.edge_nodes_ids[0] == node_id:
+      return self._nodes_np[1]
+
+    if self.edge_nodes_ids[-1] == node_id:
+      return self._nodes_np[-2]
+
+    return np.array([0., 0.])
+
+  def split(self, node_id, way_ids=None):
+    """ Returns and array with the way relations resulting from splitting the current way relation at node_id
+    """
+    idxs = np.nonzero(self._nodes_ids == node_id)[0]
+    if len(idxs) == 0:
+      return []
+
+    idx = idxs[0]
+    if idx == 0 or idx == len(self._nodes_ids) - 1:
+      return [self]
+
+    if not isinstance(way_ids, list):
+      way_ids = [-1, -2]  # Default id values.
+
+    ways = [create_way(way_ids[0], node_ids=self._nodes_ids[:idx + 1], from_way=self.way),
+            create_way(way_ids[1], node_ids=self._nodes_ids[idx:], from_way=self.way)]
+    return [WayRelation(way, parent=self) for way in ways]
diff --git a/selfdrive/mapd/lib/WayRelationIndex.py b/selfdrive/mapd/lib/WayRelationIndex.py
new file mode 100644
index 00000000000000..e941dcd5b7c1fe
--- /dev/null
+++ b/selfdrive/mapd/lib/WayRelationIndex.py
@@ -0,0 +1,34 @@
+
+
+class WayRelationIndex():
+  """
+  A class containing an index of WayRelations by node ids of internal nodes and edge nodes.
+  """
+  def __init__(self, way_relations):
+    self._edge_nodes_index_dict = {}
+    self._full_nodes_index_dict = {}
+
+    for wr in way_relations:
+      self.add(wr)
+
+  def add(self, way_relation):
+    for node in way_relation.way.nodes:
+      node_id = node.id
+      self._full_nodes_index_dict[node_id] = self._full_nodes_index_dict.get(node_id, []) + [way_relation]
+      if node_id in way_relation.edge_nodes_ids:
+        self._edge_nodes_index_dict[node_id] = self._edge_nodes_index_dict.get(node_id, []) + [way_relation]
+
+  def remove(self, way_relation):
+    for node in way_relation.way.nodes:
+      node_id = node.id
+      self._full_nodes_index_dict[node_id] = [wr for wr in self._full_nodes_index_dict.get(node_id, [])
+                                              if wr is not way_relation]
+      if node_id in way_relation.edge_nodes_ids:
+        self._edge_nodes_index_dict[node_id] = [wr for wr in self._edge_nodes_index_dict.get(node_id, [])
+                                                if wr is not way_relation]
+
+  def way_relations_with_edge_node_id(self, node_id):
+    return self._edge_nodes_index_dict.get(node_id, [])
+
+  def way_relations_with_node_id(self, node_id):
+    return self._full_nodes_index_dict.get(node_id, [])
diff --git a/selfdrive/mapd/lib/default_speeds.json b/selfdrive/mapd/lib/default_speeds.json
new file mode 100644
index 00000000000000..a8db6088077d9c
--- /dev/null
+++ b/selfdrive/mapd/lib/default_speeds.json
@@ -0,0 +1,111 @@
+{
+  "_comment": "These speeds are from https://wiki.openstreetmap.org/wiki/Speed_limits  Special cases have been stripped",
+  "AR:urban": "40",
+  "AR:urban:primary": "60",
+  "AR:urban:secondary": "60",
+  "AR:rural": "110",
+  "AT:urban": "50",
+  "AT:rural": "100",
+  "AT:trunk": "100",
+  "AT:motorway": "130",
+  "BE:urban": "50",
+  "BE-VLG:rural": "70",
+  "BE-WAL:rural": "90",
+  "BE:trunk": "120",
+  "BE:motorway": "120",
+  "CH:urban[1]": "50",
+  "CH:rural": "80",
+  "CH:trunk": "100",
+  "CH:motorway": "120",
+  "CZ:pedestrian_zone": "20",
+  "CZ:living_street": "20",
+  "CZ:urban": "50",
+  "CZ:urban_trunk": "80",
+  "CZ:urban_motorway": "80",
+  "CZ:rural": "90",
+  "CZ:trunk": "110",
+  "CZ:motorway": "130",
+  "DK:urban": "50",
+  "DK:rural": "80",
+  "DK:motorway": "130",
+  "DE:living_street": "7",
+  "DE:residential": "30",
+  "DE:urban": "50",
+  "DE:rural": "100",
+  "DE:trunk": "none",
+  "DE:motorway": "none",
+  "FI:urban": "50",
+  "FI:rural": "80",
+  "FI:trunk": "100",
+  "FI:motorway": "120",
+  "FR:urban": "50",
+  "FR:rural": "80",
+  "FR:trunk": "110",
+  "FR:motorway": "130",
+  "GR:urban": "50",
+  "GR:rural": "90",
+  "GR:trunk": "110",
+  "GR:motorway": "130",
+  "HU:urban": "50",
+  "HU:rural": "90",
+  "HU:trunk": "110",
+  "HU:motorway": "130",
+  "IT:urban": "50",
+  "IT:rural": "90",
+  "IT:trunk": "110",
+  "IT:motorway": "130",
+  "JP:national": "60",
+  "JP:motorway": "100",
+  "LT:living_street": "20",
+  "LT:urban": "50",
+  "LT:rural": "90",
+  "LT:trunk": "120",
+  "LT:motorway": "130",
+  "PL:living_street": "20",
+  "PL:urban": "50",
+  "PL:rural": "90",
+  "PL:trunk": "100",
+  "PL:motorway": "140",
+  "RO:urban": "50",
+  "RO:rural": "90",
+  "RO:trunk": "100",
+  "RO:motorway": "130",
+  "RU:living_street": "20",
+  "RU:urban": "60",
+  "RU:rural": "90",
+  "RU:motorway": "110",
+  "SK:urban": "50",
+  "SK:rural": "90",
+  "SK:trunk": "90",
+  "SK:motorway": "90",
+  "SI:urban": "50",
+  "SI:rural": "90",
+  "SI:trunk": "110",
+  "SI:motorway": "130",
+  "ES:living_street": "20",
+  "ES:urban": "50",
+  "ES:rural": "50",
+  "ES:trunk": "90",
+  "ES:motorway": "120",
+  "SE:urban": "50",
+  "SE:rural": "70",
+  "SE:trunk": "90",
+  "SE:motorway": "110",
+  "GB:nsl_restricted": "30 mph",
+  "GB:nsl_single": "60 mph",
+  "GB:nsl_dual": "70 mph",
+  "GB:motorway": "70 mph",
+  "UA:urban": "50",
+  "UA:rural": "90",
+  "UA:trunk": "110",
+  "UA:motorway": "130",
+  "UZ:living_street": "30",
+  "UZ:urban": "70",
+  "UZ:rural": "100",
+  "UZ:motorway": "110",
+  "ZA:trunk": "120",
+  "ZA:residential": "60",
+  "ZA:rural": "100",
+  "ZA:urban": "60",
+  "ZA:motorway": "120"
+}
diff --git a/selfdrive/mapd/lib/geo.py b/selfdrive/mapd/lib/geo.py
new file mode 100644
index 00000000000000..8f6232225f9de7
--- /dev/null
+++ b/selfdrive/mapd/lib/geo.py
@@ -0,0 +1,66 @@
+from enum import Enum
+import numpy as np
+
+
+R = 6373000.0  # approximate radius of earth in mts
+
+
+def vectors(points):
+  """Provides a array of vectors on cartesian space (x, y).
+     Each vector represents the path from a point in `points` to the next.
+     `points` must by a (N, 2) array of [lat, lon] pairs in radians.
+  """
+  latA = points[:-1, 0]
+  latB = points[1:, 0]
+  delta = np.diff(points, axis=0)
+  dlon = delta[:, 1]
+
+  x = np.sin(dlon) * np.cos(latB)
+  y = np.cos(latA) * np.sin(latB) - (np.sin(latA) * np.cos(latB) * np.cos(dlon))
+
+  return np.column_stack((x, y))
+
+
+def ref_vectors(ref, points):
+  """Provides a array of vectors on cartesian space (x, y).
+     Each vector represents the path from ref to a point in `points`.
+     `points` must by a (N, 2) array of [lat, lon] pairs in radians.
+  """
+  latA = ref[0]
+  latB = points[:, 0]
+  delta = points - ref
+  dlon = delta[:, 1]
+
+  x = np.sin(dlon) * np.cos(latB)
+  y = np.cos(latA) * np.sin(latB) - (np.sin(latA) * np.cos(latB) * np.cos(dlon))
+
+  return np.column_stack((x, y))
+
+
+def bearing_to_points(point, points):
+  """Calculate the bearings (angle from true north clockwise) of the vectors between `point` and each
+  one of the entries in `points`. Both `point` and `points` elements are 2 element arrays containing a latitud,
+  longitude pair in radians.
+  """
+  delta = points - point
+  x = np.sin(delta[:, 1]) * np.cos(points[:, 0])
+  y = np.cos(point[0]) * np.sin(points[:, 0]) - (np.sin(point[0]) * np.cos(points[:, 0]) * np.cos(delta[:, 1]))
+  return np.arctan2(x, y)
+
+
+def distance_to_points(point, points):
+  """Calculate the distance of the vectors between `point` and each one of the entries in `points`.
+  Both `point` and `points` elements are 2 element arrays containing a latitud, longitude pair in radians.
+  """
+  delta = points - point
+  a = np.sin(delta[:, 0] / 2)**2 + np.cos(point[0]) * np.cos(points[:, 0]) * np.sin(delta[:, 1] / 2)**2
+  c = 2 * np.arctan2(np.sqrt(a), np.sqrt(1 - a))
+  return c * R
+
+
+class DIRECTION(Enum):
+  NONE = 0
+  AHEAD = 1
+  BEHIND = 2
+  FORWARD = 3
+  BACKWARD = 4
diff --git a/selfdrive/mapd/lib/osm.py b/selfdrive/mapd/lib/osm.py
new file mode 100644
index 00000000000000..e7bd9cf94174a6
--- /dev/null
+++ b/selfdrive/mapd/lib/osm.py
@@ -0,0 +1,37 @@
+import overpy
+import numpy as np
+from openpilot.selfdrive.mapd.lib.geo import R
+
+
+def create_way(way_id, node_ids, from_way):
+  """
+  Creates and OSM Way with the given `way_id` and list of `node_ids`, copying attributes and tags from `from_way`
+  """
+  return overpy.Way(way_id, node_ids=node_ids, attributes={}, result=from_way._result,
+                    tags=from_way.tags)
+
+
+class OSM():
+  def __init__(self):
+    self.api = overpy.Overpass()
+    # self.api = overpy.Overpass(url='http://3.65.170.21/api/interpreter')
+
+  def fetch_road_ways_around_location(self, lat, lon, radius):
+    # Calculate the bounding box coordinates for the bbox containing the circle around location.
+    bbox_angle = np.degrees(radius / R)
+    # fetch all ways and nodes on this ways in bbox
+    bbox_str = f'{str(lat - bbox_angle)},{str(lon - bbox_angle)},{str(lat + bbox_angle)},{str(lon + bbox_angle)}'
+    q = """
+        way(""" + bbox_str + """)
+          [highway]
+          [highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
+        (._;>;);
+        out;
+        """
+    try:
+      ways = self.api.query(q).ways
+    except Exception as e:
+      print(f'Exception while querying OSM:\n{e}')
+      ways = []
+
+    return ways
diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py
new file mode 100644
index 00000000000000..c3b44100a9377a
--- /dev/null
+++ b/selfdrive/mapd/mapd.py
@@ -0,0 +1,266 @@
+#!/usr/bin/env python3
+import threading
+from traceback import print_exception
+import numpy as np
+from time import strftime, gmtime
+import cereal.messaging as messaging
+from openpilot.common.realtime import Ratekeeper
+from openpilot.selfdrive.mapd.lib.osm import OSM
+from openpilot.selfdrive.mapd.lib.geo import distance_to_points
+from openpilot.selfdrive.mapd.lib.WayCollection import WayCollection
+from openpilot.selfdrive.mapd.config import QUERY_RADIUS, MIN_DISTANCE_FOR_NEW_QUERY, FULL_STOP_MAX_SPEED, LOOK_AHEAD_HORIZON_TIME
+from openpilot.system.swaglog import cloudlog
+
+
+_DEBUG = False
+_CLOUDLOG_DEBUG = True
+
+
+def _debug(msg, log_to_cloud=True):
+  if _CLOUDLOG_DEBUG and log_to_cloud:
+    cloudlog.debug(msg)
+  if _DEBUG:
+    print(msg)
+
+
+def excepthook(args):
+  _debug(f'MapD: Threading exception:\n{args}')
+  print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+threading.excepthook = excepthook
+
+
+class MapD():
+  def __init__(self):
+    self.osm = OSM()
+    self.way_collection = None
+    self.route = None
+    self.last_gps_fix_timestamp = 0
+    self.last_gps = None
+    self.location_deg = None  # The current location in degrees.
+    self.location_rad = None  # The current location in radians as a Numpy array.
+    self.bearing_rad = None
+    self.location_stdev = None  # The current location accuracy in mts. 1 standard devitation.
+    self.gps_speed = 0.
+    self.last_fetch_location = None
+    self.last_route_update_fix_timestamp = 0
+    self.last_publish_fix_timestamp = 0
+    self._op_enabled = False
+    self._disengaging = False
+    self._query_thread = None
+    self._lock = threading.RLock()
+
+  def udpate_state(self, sm):
+    sock = 'controlsState'
+    if not sm.updated[sock] or not sm.valid[sock]:
+      return
+
+    controls_state = sm[sock]
+    self._disengaging = not controls_state.enabled and self._op_enabled
+    self._op_enabled = controls_state.enabled
+
+  def update_gps(self, sm):
+    sock = 'gpsLocationExternal'
+    if not sm.updated[sock] or not sm.valid[sock]:
+      return
+
+    log = sm[sock]
+    self.last_gps = log
+
+    # ignore the message if the fix is invalid
+    if log.flags % 2 == 0:
+      return
+
+    self.last_gps_fix_timestamp = log.unixTimestampMillis  # Unix TS. Milliseconds since January 1, 1970.
+    self.location_rad = np.radians(np.array([log.latitude, log.longitude], dtype=float))
+    self.location_deg = (log.latitude, log.longitude)
+    self.bearing_rad = np.radians(log.bearingDeg, dtype=float)
+    self.gps_speed = log.speed
+    self.location_stdev = log.accuracy  # log accuracies are presumably 1 standard deviation.
+
+    _debug('Mapd: ********* Got GPS fix'
+           + f'Pos: {self.location_deg} +/- {self.location_stdev * 2.} mts.\n'
+           + f'Bearing: {log.bearingDeg} +/- {log.bearingAccuracyDeg * 2.} deg.\n'
+           + f'timestamp: {strftime("%d-%m-%y %H:%M:%S", gmtime(self.last_gps_fix_timestamp * 1e-3))}'
+           + '*******', log_to_cloud=False)
+
+  def _query_osm_not_blocking(self):
+    def query(osm, location_deg, location_rad, radius):
+      _debug(f'Mapd: Start query for OSM map data at {location_deg}')
+      lat, lon = location_deg
+      ways = osm.fetch_road_ways_around_location(lat, lon, radius)
+      _debug(f'Mapd: Query to OSM finished with {len(ways)} ways')
+
+      # Only issue an update if we received some ways. Otherwise it is most likely a connectivity issue.
+      # Will retry on next loop.
+      if len(ways) > 0:
+        new_way_collection = WayCollection(ways, location_rad)
+
+        # Use the lock to update the way_collection as it might be being used to update the route.
+        _debug('Mapd: Locking to write results from osm.', log_to_cloud=False)
+        with self._lock:
+          self.way_collection = new_way_collection
+          self.last_fetch_location = location_rad
+          _debug(f'Mapd: Updated map data @ {location_deg} - got {len(ways)} ways')
+
+        _debug('Mapd: Releasing Lock to write results from osm', log_to_cloud=False)
+
+    # Ignore if we have a query thread already running.
+    if self._query_thread is not None and self._query_thread.is_alive():
+      return
+
+    self._query_thread = threading.Thread(target=query, args=(self.osm, self.location_deg, self.location_rad,
+                                                              QUERY_RADIUS))
+    self._query_thread.start()
+
+  def updated_osm_data(self):
+    if self.route is not None:
+      distance_to_end = self.route.distance_to_end
+      if distance_to_end is not None and distance_to_end >= MIN_DISTANCE_FOR_NEW_QUERY:
+        # do not query as long as we have a route with enough distance ahead.
+        return
+
+    if self.location_rad is None:
+      return
+
+    if self.last_fetch_location is not None:
+      distance_since_last = distance_to_points(self.last_fetch_location, np.array([self.location_rad]))[0]
+      if distance_since_last < QUERY_RADIUS - MIN_DISTANCE_FOR_NEW_QUERY:
+        # do not query if are still not close to the border of previous query area
+        return
+
+    self._query_osm_not_blocking()
+
+  def update_route(self):
+    def update_proc():
+      # Ensure we clear the route on op disengage, this way we can correct possible incorrect map data due
+      # to wrongly locating or picking up the wrong route.
+      if self._disengaging:
+        self.route = None
+        _debug('Mapd *****: Clearing Route as system is disengaging. ********')
+
+      if self.way_collection is None or self.location_rad is None or self.bearing_rad is None:
+        _debug('Mapd *****: Can not update route. Missing WayCollection, location or bearing ********')
+        return
+
+      if self.route is not None and self.last_route_update_fix_timestamp == self.last_gps_fix_timestamp:
+        _debug('Mapd *****: Skipping route update. No new fix since last update ********')
+        return
+
+      self.last_route_update_fix_timestamp = self.last_gps_fix_timestamp
+
+      # Create the route if not existent or if it was generated by an older way collection
+      if self.route is None or self.route.way_collection_id != self.way_collection.id:
+        self.route = self.way_collection.get_route(self.location_rad, self.bearing_rad, self.location_stdev)
+        _debug(f'Mapd *****: Route created: \n{self.route}\n********')
+        return
+
+      # Do not attempt to update the route if the car is going close to a full stop, as the bearing can start
+      # jumping and creating unnecessary losing of the route. Since the route update timestamp has been updated
+      # a new liveMapData message will be published with the current values (which is desirable)
+      if self.gps_speed < FULL_STOP_MAX_SPEED:
+        _debug('Mapd *****: Route Not updated as car has Stopped ********')
+        return
+
+      self.route.update(self.location_rad, self.bearing_rad, self.location_stdev)
+      if self.route.located:
+        _debug(f'Mapd *****: Route updated: \n{self.route}\n********')
+        return
+
+      # if an old route did not manage to locate, attempt to regenerate form way collection.
+      self.route = self.way_collection.get_route(self.location_rad, self.bearing_rad, self.location_stdev)
+      _debug(f'Mapd *****: Failed to update location in route. Regenerated with route: \n{self.route}\n********')
+
+    # We use the lock when updating the route, as it reads `way_collection` which can ben updated by
+    # a new query result from the _query_thread.
+    _debug('Mapd: Locking to update route.', log_to_cloud=False)
+    with self._lock:
+      update_proc()
+
+    _debug('Mapd: Releasing Lock to update route', log_to_cloud=False)
+
+  def publish(self, pm, sm):
+    # Ensure we have a route currently located
+    if self.route is None or not self.route.located:
+      _debug('Mapd: Skipping liveMapData message as there is no route or is not located.')
+      return
+
+    # Ensure we have a route update since last publish
+    if self.last_publish_fix_timestamp == self.last_route_update_fix_timestamp:
+      _debug('Mapd: Skipping liveMapData since there is no new gps fix.')
+      return
+
+    self.last_publish_fix_timestamp = self.last_route_update_fix_timestamp
+
+    speed_limit = self.route.current_speed_limit
+    next_speed_limit_section = self.route.next_speed_limit_section
+    turn_speed_limit_section = self.route.current_curvature_speed_limit_section
+    horizon_mts = self.gps_speed * LOOK_AHEAD_HORIZON_TIME
+    next_turn_speed_limit_sections = self.route.next_curvature_speed_limit_sections(horizon_mts)
+    current_road_name = self.route.current_road_name
+
+    map_data_msg = messaging.new_message('liveMapData')
+    map_data_msg.valid = sm.all_alive(service_list=['gpsLocationExternal']) and \
+                         sm.all_valid(service_list=['gpsLocationExternal'])
+
+    map_data_msg.liveMapData.lastGpsTimestamp = self.last_gps.unixTimestampMillis
+    map_data_msg.liveMapData.lastGpsLatitude = float(self.last_gps.latitude)
+    map_data_msg.liveMapData.lastGpsLongitude = float(self.last_gps.longitude)
+    map_data_msg.liveMapData.lastGpsSpeed = float(self.last_gps.speed)
+    map_data_msg.liveMapData.lastGpsBearingDeg = float(self.last_gps.bearingDeg)
+    map_data_msg.liveMapData.lastGpsAccuracy = float(self.last_gps.accuracy)
+    map_data_msg.liveMapData.lastGpsBearingAccuracyDeg = float(self.last_gps.bearingAccuracyDeg)
+
+    map_data_msg.liveMapData.speedLimitValid = bool(speed_limit is not None)
+    map_data_msg.liveMapData.speedLimit = float(speed_limit if speed_limit is not None else 0.0)
+    map_data_msg.liveMapData.speedLimitAheadValid = bool(next_speed_limit_section is not None)
+    map_data_msg.liveMapData.speedLimitAhead = float(next_speed_limit_section.value
+                                                     if next_speed_limit_section is not None else 0.0)
+    map_data_msg.liveMapData.speedLimitAheadDistance = float(next_speed_limit_section.start
+                                                             if next_speed_limit_section is not None else 0.0)
+
+    map_data_msg.liveMapData.turnSpeedLimitValid = bool(turn_speed_limit_section is not None)
+    map_data_msg.liveMapData.turnSpeedLimit = float(turn_speed_limit_section.value
+                                                    if turn_speed_limit_section is not None else 0.0)
+    map_data_msg.liveMapData.turnSpeedLimitSign = int(turn_speed_limit_section.curv_sign
+                                                      if turn_speed_limit_section is not None else 0)
+    map_data_msg.liveMapData.turnSpeedLimitEndDistance = float(turn_speed_limit_section.end
+                                                               if turn_speed_limit_section is not None else 0.0)
+    map_data_msg.liveMapData.turnSpeedLimitsAhead = [float(s.value) for s in next_turn_speed_limit_sections]
+    map_data_msg.liveMapData.turnSpeedLimitsAheadDistances = [float(s.start) for s in next_turn_speed_limit_sections]
+    map_data_msg.liveMapData.turnSpeedLimitsAheadSigns = [float(s.curv_sign) for s in next_turn_speed_limit_sections]
+
+    map_data_msg.liveMapData.currentRoadName = str(current_road_name if current_road_name is not None else "")
+
+    pm.send('liveMapData', map_data_msg)
+    _debug(f'Mapd *****: Publish: \n{map_data_msg}\n********', log_to_cloud=False)
+
+
+# provides live map data information
+def mapd_thread(sm=None, pm=None):
+  mapd = MapD()
+  rk = Ratekeeper(1., print_delay_threshold=None)  # Keeps rate at 1 hz
+
+  # *** setup messaging
+  if sm is None:
+    sm = messaging.SubMaster(['gpsLocationExternal', 'controlsState'])
+  if pm is None:
+    pm = messaging.PubMaster(['liveMapData'])
+
+  while True:
+    sm.update()
+    mapd.udpate_state(sm)
+    mapd.update_gps(sm)
+    mapd.updated_osm_data()
+    mapd.update_route()
+    mapd.publish(pm, sm)
+    rk.keep_time()
+
+
+def main(sm=None, pm=None):
+  mapd_thread(sm, pm)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/mapd/test/__init__.py b/selfdrive/mapd/test/__init__.py
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/mapd/test/mock_data.py b/selfdrive/mapd/test/mock_data.py
new file mode 100644
index 00000000000000..9f0331d83941d7
--- /dev/null
+++ b/selfdrive/mapd/test/mock_data.py
@@ -0,0 +1,266 @@
+from openpilot.selfdrive.mapd.lib.WayCollection import WayCollection
+from openpilot.selfdrive.mapd.lib.geo import vectors, R
+from openpilot.selfdrive.mapd.lib.NodesData import _MIN_NODE_DISTANCE, _ADDED_NODES_DIST, _SPLINE_EVAL_STEP, \
+  _MIN_SPEED_SECTION_LENGTH, nodes_raw_data_array_for_wr, node_calculations, is_wr_a_valid_divertion_from_node, \
+  spline_curvature_calculations, speed_limits_for_curvatures_data
+from scipy.interpolate import splev, splprep
+import numpy as np
+import overpy
+
+
+class MockNodesData():
+  def __init__(self, way_coords):
+    self.degrees = np.array(way_coords)
+    self.radians = np.radians(self.degrees)
+
+    # *****************
+    # Expected code implementation nodes_data
+    self.v = vectors(self.radians) * R
+    self.d = np.linalg.norm(self.v, axis=1)
+    self.b = np.arctan2(self.v[:, 0], self.v[:, 1])
+    self.v = np.concatenate(([[0., 0.]], self.v))
+    self.dp = np.concatenate(([0.], self.d))
+    self.dn = np.concatenate((self.d, [0.]))
+    self.dr = np.cumsum(self.dp, axis=0)
+    self.b = np.concatenate((self.b, [self.b[-1]]))
+
+    # Expected code implementation spline_curvature_calculations
+    vect = self.v
+    dist_prev = self.dp
+    too_far_idxs = np.nonzero(self.dp >= _MIN_NODE_DISTANCE)[0]
+    for idx in too_far_idxs[::-1]:
+      dp = dist_prev[idx]  # distance of vector that needs to be replaced by higher resolution vectors.
+      n = int(np.ceil(dp / _ADDED_NODES_DIST))  # number of vectors that need to be added.
+      new_v = vect[idx, :] / n  # new relative vector to insert.
+      vect = np.delete(vect, idx, axis=0)  # remove the relative vector to be replaced by the insertion of new vectors.
+      vect = np.insert(vect, [idx] * n, [new_v] * n, axis=0)  # insert n new relative vectors
+    ds = np.cumsum(dist_prev, axis=0)
+    vs = np.cumsum(vect, axis=0)
+    tck, u = splprep([vs[:, 0], vs[:, 1]])  # pylint: disable=W0632
+    n = max(int(ds[-1] / _SPLINE_EVAL_STEP), len(u))
+    unew = np.arange(0, n + 1) / n
+    d1 = splev(unew, tck, der=1)
+    d2 = splev(unew, tck, der=2)
+    num = d1[0] * d2[1] - d1[1] * d2[0]
+    den = (d1[0]**2 + d1[1]**2)**(1.5)
+    self.curv = num / den
+    self.curv_ds = unew * ds[-1]
+    # *****************
+
+
+class MockCurveSection():
+  def __init__(self, func, di=0., df=1000., step=10.):
+    self.di = di
+    self.df = df
+    self.n = (df - di) // step
+    self.u = np.arange(0, self.n + 1) / self.n
+    self.curv_ds = self.u * (df - di) + di
+    self.curv = func(self.u)
+    self.curv_abs = np.abs(self.curv)
+    self.curv_sec = np.column_stack((self.curv_abs, np.sign(self.curv), self.curv_ds))
+
+
+class MockOSMQueryResponse():
+  def __init__(self, xml_path, query_center):
+    self.api = overpy.Overpass()
+    self.query_center = np.radians(np.array(query_center))
+
+    with open(xml_path, 'r') as f:
+      overpass_xml = f.read()
+      self.ways = self.api.parse_xml(overpass_xml).ways
+
+    self.wayCollection = WayCollection(self.ways, self.query_center)
+
+class MockRouteData():
+  def __init__(self, way_ids, way_collection, first_node_id):  # way)ids must be in order forming a route.
+    self.wrs = [next(wr for wr in way_collection.way_relations if wr.id == way_id) for way_id in way_ids]
+    self.way_collection = way_collection
+    self.first_node_id = first_node_id
+
+  def reset(self):
+    way_relations = self.wrs
+    wr_index = self.way_collection.wr_index
+
+    # Nodes Data processing expects way relations to be updated with direction before running.
+    for idx, wr in enumerate(way_relations):
+      if idx == 0:
+        wr.update_direction_from_starting_node(self.first_node_id)
+      else:
+        wr.update_direction_from_starting_node(way_relations[idx - 1].last_node.id)
+
+    # ***** Expected calculations
+    self._nodes_data = np.array([])
+    self._divertions = [[]]
+    self._curvature_speed_sections_data = np.array([])
+    way_count = len(way_relations)
+    if way_count == 0:
+      return
+    # We want all the nodes from the last way section
+    nodes_data = nodes_raw_data_array_for_wr(way_relations[-1])
+    # For the ways before the last in the route we want all the nodes but the last, as that one is the first on
+    # the next section. Collect them, append last way node data and concatenate the numpy arrays.
+    if way_count > 1:
+      wrs_data = tuple([nodes_raw_data_array_for_wr(wr, drop_last=True) for wr in way_relations[:-1]])
+      wrs_data += (nodes_data,)
+      nodes_data = np.concatenate(wrs_data)
+    # Get a subarray with lat, lon to compute the remaining node values.
+    lat_lon_array = nodes_data[:, [1, 2]]
+    points = np.radians(lat_lon_array)
+    # Ensure we have more than 3 points, if not calculations are not possible.
+    if len(points) <= 3:
+      return
+    vect, dist_prev, dist_next, dist_route, bearing = node_calculations(points)
+    # append calculations to nodes_data
+    # nodes_data structure: [id, lat, lon, speed_limit, x, y, dist_prev, dist_next, dist_route, bearing]
+    self._nodes_data = np.column_stack((nodes_data, vect, dist_prev, dist_next, dist_route, bearing))
+    # Build route diversion options data from the wr_index.
+    wr_ids = [wr.id for wr in way_relations]
+    self._divertions = [[wr for wr in wr_index.way_relations_with_edge_node_id(node_id)
+                        if is_wr_a_valid_divertion_from_node(wr, node_id, wr_ids)]
+                        for node_id in nodes_data[:, 0]]
+    # Store calculations for curvature sections speed limits. We need more than 3 points to be able to process.
+    # _curvature_speed_sections_data structure: [dist_start, dist_stop, speed_limits, curv_sign]
+    if len(vect) > 3:
+      self._curv, self._curv_ds = spline_curvature_calculations(vect, dist_prev)
+      self._curvature_speed_sections_data = speed_limits_for_curvatures_data(self._curv, self._curv_ds)
+    # *****
+
+
+# Test data in degrees from this road:
+# https://www.google.de/maps/@52.209263,13.8723137,13z
+_WAY_NODES_COORDS_01 = [
+  [52.1933703, 13.8723799],
+  [52.1939477, 13.8711273],
+  [52.1942004, 13.8705818],
+  [52.1945408, 13.8698496],
+  [52.1948447, 13.8691873],
+  [52.1950772, 13.8685726],
+  [52.1951168, 13.8684641],
+  [52.1956681, 13.8670323],
+  [52.1958716, 13.8664936],
+  [52.1964366, 13.8649875],
+  [52.1969283, 13.8636040],
+  [52.1970203, 13.8634430],
+  [52.1975486, 13.8626307],
+  [52.1976354, 13.8624971],
+  [52.1977827, 13.8621795],
+  [52.1978564, 13.8619220],
+  [52.1981843, 13.8604497],
+  [52.1982614, 13.8602140],
+  [52.1983351, 13.8600595],
+  [52.1992768, 13.8579824],
+  [52.1995107, 13.8574321],
+  [52.1995948, 13.8572604],
+  [52.1996818, 13.8571155],
+  [52.1998000, 13.8570029],
+  [52.2000659, 13.8568236],
+  [52.2003868, 13.8566005],
+  [52.2007182, 13.8564460],
+  [52.2008760, 13.8564117],
+  [52.2009865, 13.8564117],
+  [52.2011390, 13.8564202],
+  [52.2012267, 13.8564496],
+  [52.2012544, 13.8564577],
+  [52.2013179, 13.8564803],
+  [52.2020491, 13.8571756],
+  [52.2026014, 13.8576991],
+  [52.2027592, 13.8578879],
+  [52.2027960, 13.8579309],
+  [52.2028960, 13.8580939],
+  [52.2030170, 13.8583343],
+  [52.2036587, 13.8597076],
+  [52.2052946, 13.8633039],
+  [52.2064332, 13.8658435],
+  [52.2067856, 13.8666332],
+  [52.2068961, 13.8668477],
+  [52.2070777, 13.8670890],
+  [52.2073723, 13.8674409],
+  [52.2077457, 13.8679387],
+  [52.2083874, 13.8687455],
+  [52.2093341, 13.8699214],
+  [52.2099652, 13.8707540],
+  [52.2102282, 13.8712089],
+  [52.2104228, 13.8715694],
+  [52.2106122, 13.8718955],
+  [52.2107619, 13.8721756],
+  [52.2108695, 13.8723771],
+  [52.2110747, 13.8727610],
+  [52.2111514, 13.8729047],
+  [52.2114010, 13.8733718],
+  [52.2114694, 13.8735006],
+  [52.2115430, 13.8736636],
+  [52.2116086, 13.8737571],
+  [52.2116770, 13.8738172],
+  [52.2117611, 13.8738515],
+  [52.2118664, 13.8738566],
+  [52.2119322, 13.8738439],
+  [52.2121058, 13.8737924],
+  [52.2122583, 13.8737495],
+  [52.2123265, 13.8737260],
+  [52.2124213, 13.8736894],
+  [52.2127466, 13.8734888],
+  [52.2128263, 13.8734491],
+  [52.2131313, 13.8733117],
+  [52.2133943, 13.8731830],
+  [52.2136625, 13.8731057],
+  [52.2139465, 13.8730456],
+  [52.2143619, 13.8730113],
+  [52.2148773, 13.8729942],
+  [52.2152275, 13.8730325],
+  [52.2153110, 13.8730398],
+  [52.2157442, 13.8730848],
+  [52.2158833, 13.8731036]]
+
+
+mockNodesData01 = MockNodesData(_WAY_NODES_COORDS_01)
+
+# OSM Query around B96 south of Berlin
+mockOSMResponse01 = MockOSMQueryResponse('selfdrive/mapd/test/mock_osm_response_01.xml',
+                                         [52.31400353586984, 13.447158941786366])
+
+# OSM Query on curvy town area south of Germany.
+mockOSMResponse02 = MockOSMQueryResponse('selfdrive/mapd/test/mock_osm_response_02.xml',
+                                         [48.16573269276522, 9.81418473659117])
+
+mockWayCollection01 = WayCollection(mockOSMResponse01.ways, mockOSMResponse01.query_center)
+mockWayCollection02 = WayCollection(mockOSMResponse02.ways, mockOSMResponse02.query_center)
+
+# Normal curvy Way. way id: 179532213 with 35 Nodes.
+mockOSMWay_01_01_LongCurvy = next(way for way in mockOSMResponse01.ways if way.id == 179532213)
+
+# Looped way. way id: 29233907
+mockOSMWay_01_02_Loop = next(way for way in mockOSMResponse01.ways if way.id == 29233907)
+
+# Complex curvy road through town with intersections. way id:178450395
+mockOSMWay_02_01_CurvyTownWithIntersections = next(way for way in mockOSMResponse02.ways if way.id == 178450395)
+
+# Valid diversion for way 02_01 at node: 34785115. way id: 27955186
+mockOSMWay_02_02_Divertion_34785115 = next(way for way in mockOSMResponse02.ways if way.id == 27955186)
+
+# 3 node way. way id: 807781992
+mockOSMWay_02_03_Short_3_node_way = next(way for way in mockOSMResponse02.ways if way.id == 807781992)
+
+# data composing route 01 in way collection 02
+mockRouteData_02_01 = MockRouteData([60890967, 737120246, 601406617, 60890971, 178450395], mockWayCollection02,
+                                    first_node_id=201962346)
+
+# data composing route 02 in way collection 02. Single WR
+mockRouteData_02_02_single_wr = MockRouteData([178450395], mockWayCollection02, first_node_id=762086638)
+
+# data composing route 03 in way collection 02. Multiple speed limits
+mockRouteData_02_03 = MockRouteData([158799549, 798805532, 28707704, 158797898, 602249535, 602249536, 825823509,
+                                     178449088, 916462523, 158796386], mockWayCollection02,
+                                    first_node_id=252601829)
+
+# 1000mt section with one full sin cycle as curv values.
+mockCurveSectionSin = MockCurveSection(lambda x: np.sin(x * 2 * np.pi))
+
+# 200mt section with changing curvature rate.
+mockCurveSteepCurvChange = MockCurveSection(lambda x: 0.05 * x**3 - 0.007 * x**2 + 0.001 * x, df=200)
+
+# _MIN_SPEED_SECTION_LENGTH section with changing curvature rate.
+mockCurveSteepCurvChangeShort = MockCurveSection(
+  lambda x: 0.05 * x**3 - 0.007 * x**2 + 0.001 * x, df=_MIN_SPEED_SECTION_LENGTH)
+
+# 200mt section with smooth changing curvature rate. no deviation over 2.
+mockCurveSmoothCurveChange = MockCurveSection(lambda x: 0.0002 * x**3 - 0.001 * x**2 + 0.6 * x, df=200)
diff --git a/selfdrive/mapd/test/mock_osm_response_01.xml b/selfdrive/mapd/test/mock_osm_response_01.xml
new file mode 100644
index 00000000000000..d1e2a219ced8d3
--- /dev/null
+++ b/selfdrive/mapd/test/mock_osm_response_01.xml
@@ -0,0 +1,9908 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- 
+  OSM response to below query 6 Sept 2021.
+
+  way(around:3000.0,52.31400353586984, 13.447158941786366)
+    [highway]
+    [highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
+  (._;>;);
+  out;
+ -->
+<osm version="0.6" generator="Overpass API 0.7.56.9 76e5016d">
+<note>The data included in this document is from www.openstreetmap.org. The data is made available under ODbL.</note>
+<meta osm_base="2021-09-06T11:30:13Z"/>
+
+  <node id="21483089" lat="52.3060080" lon="13.4264867"/>
+  <node id="26808325" lat="52.3179880" lon="13.4439053"/>
+  <node id="26808420" lat="52.3434001" lon="13.4348269"/>
+  <node id="26808421" lat="52.3233243" lon="13.4378904"/>
+  <node id="27487353" lat="52.3058554" lon="13.4265520"/>
+  <node id="27487359" lat="52.3067414" lon="13.4460405">
+    <tag k="highway" v="motorway_junction"/>
+    <tag k="name" v="Rangsdorf"/>
+    <tag k="ref" v="12"/>
+  </node>
+  <node id="29553842" lat="52.3288409" lon="13.4110145"/>
+  <node id="29648371" lat="52.2998722" lon="13.4541580"/>
+  <node id="29648373" lat="52.2992972" lon="13.4529638"/>
+  <node id="29648375" lat="52.2990331" lon="13.4524330">
+    <tag k="bus" v="yes"/>
+    <tag k="name" v="Hochwaldpromenade"/>
+    <tag k="public_transport" v="stop_position"/>
+  </node>
+  <node id="29648377" lat="52.2987875" lon="13.4518793"/>
+  <node id="29648380" lat="52.2985028" lon="13.4512416"/>
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+  <node id="29648435" lat="52.3077663" lon="13.4837979"/>
+  <node id="29648454" lat="52.3175383" lon="13.4738377">
+    <tag k="access" v="private"/>
+    <tag k="barrier" v="gate"/>
+  </node>
+  <node id="29648456" lat="52.3201756" lon="13.4700275">
+    <tag k="created_by" v="JOSM"/>
+  </node>
+  <node id="29648457" lat="52.3208269" lon="13.4687781"/>
+  <node id="29648458" lat="52.3215098" lon="13.4672382"/>
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+  <node id="29648470" lat="52.3220055" lon="13.4476464"/>
+  <node id="29648471" lat="52.3207398" lon="13.4449714">
+    <tag k="name" v="Dahlewitz"/>
+    <tag k="traffic_sign" v="city_limit"/>
+  </node>
+  <node id="29648472" lat="52.3198090" lon="13.4429309"/>
+  <node id="29648473" lat="52.3209719" lon="13.4414807"/>
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+  <node id="34578894" lat="52.3066181" lon="13.4475473">
+    <tag k="created_by" v="JOSM"/>
+  </node>
+  <node id="34578896" lat="52.3071956" lon="13.4486135"/>
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+    <tag k="created_by" v="JOSM"/>
+  </node>
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+    <tag k="created_by" v="JOSM"/>
+  </node>
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+    <tag k="created_by" v="JOSM"/>
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+    <nd ref="254334482"/>
+    <tag k="cycleway:right" v="track"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Bahnhofstraße"/>
+    <tag k="postal_code" v="15827"/>
+    <tag k="ref" v="L 40"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="712459805">
+    <nd ref="254334482"/>
+    <nd ref="393875270"/>
+    <nd ref="91409878"/>
+    <tag k="cycleway:right" v="track"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="maxspeed:hgv" v="30"/>
+    <tag k="name" v="Bahnhofstraße"/>
+    <tag k="postal_code" v="15827"/>
+    <tag k="ref" v="L 40"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="762485031">
+    <nd ref="2242575248"/>
+    <nd ref="258957142"/>
+    <nd ref="4560948956"/>
+    <nd ref="375810823"/>
+    <nd ref="375810825"/>
+    <nd ref="268072027"/>
+    <nd ref="8676971220"/>
+    <nd ref="8676971219"/>
+    <nd ref="475194396"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Clara-Zetkin-Straße"/>
+    <tag k="postal_code" v="15834"/>
+    <tag k="surface" v="concrete:plates"/>
+  </way>
+  <way id="793741231">
+    <nd ref="268110044"/>
+    <nd ref="278296309"/>
+    <nd ref="303177075"/>
+    <nd ref="7424689304"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Ahornstraße"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="793741232">
+    <nd ref="278296342"/>
+    <nd ref="303184956"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Ahornstraße"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="812722873">
+    <nd ref="29648377"/>
+    <nd ref="2242575518"/>
+    <nd ref="7591057641"/>
+    <tag k="cycleway" v="no"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Hochwaldpromenade"/>
+    <tag k="postal_code" v="15834"/>
+    <tag k="smoothness" v="bad"/>
+    <tag k="surface" v="cobblestone"/>
+  </way>
+  <way id="813698035">
+    <nd ref="7600604660"/>
+    <nd ref="8868263982"/>
+    <nd ref="7964897017"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="ref" v="K 7237"/>
+  </way>
+  <way id="813698036">
+    <nd ref="7600604668"/>
+    <nd ref="7600604660"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="lanes" v="3"/>
+    <tag k="lanes:backward" v="2"/>
+    <tag k="lanes:forward" v="1"/>
+    <tag k="ref" v="K 7237"/>
+    <tag k="turn:lanes:backward" v="left|through"/>
+  </way>
+  <way id="813698037">
+    <nd ref="7600604668"/>
+    <nd ref="7600604667"/>
+    <nd ref="7600604666"/>
+    <nd ref="7600604665"/>
+    <nd ref="7600604664"/>
+    <nd ref="7600604663"/>
+    <nd ref="7600604662"/>
+    <nd ref="7600604661"/>
+    <nd ref="8840204906"/>
+    <nd ref="8840204905"/>
+    <nd ref="8840204904"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="name" v="Maulbeerstraße"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="816906338">
+    <nd ref="7629664199"/>
+    <nd ref="7629664198"/>
+    <nd ref="7629664197"/>
+    <nd ref="473217158"/>
+    <nd ref="3024256562"/>
+    <nd ref="473217160"/>
+    <nd ref="7152933993"/>
+    <nd ref="3024256583"/>
+    <nd ref="473217161"/>
+    <nd ref="6603099865"/>
+    <nd ref="473217162"/>
+    <nd ref="473217163"/>
+    <nd ref="473217164"/>
+    <nd ref="473217165"/>
+    <nd ref="474920825"/>
+    <nd ref="3024256560"/>
+    <nd ref="473217166"/>
+    <nd ref="473217168"/>
+    <nd ref="473217169"/>
+    <nd ref="3024256588"/>
+    <nd ref="473217170"/>
+    <nd ref="473217171"/>
+    <nd ref="3024256582"/>
+    <nd ref="473217172"/>
+    <nd ref="3024256568"/>
+    <nd ref="2252561586"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Ladestraße"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="816906347">
+    <nd ref="7629664288"/>
+    <nd ref="7629664289"/>
+    <tag k="highway" v="motorway"/>
+    <tag k="int_ref" v="E 30;E 55"/>
+    <tag k="lanes" v="4"/>
+    <tag k="lit" v="no"/>
+    <tag k="maxheight" v="default"/>
+    <tag k="maxspeed" v="none"/>
+    <tag k="name" v="Südlicher Berliner Ring"/>
+    <tag k="note:name" v="Der reg_name, sowie ggf. der loc_name sind dem zugehörigen Wikipediaartikel entnommen."/>
+    <tag k="oneway" v="yes"/>
+    <tag k="ref" v="A 10"/>
+    <tag k="reg_name" v="Berliner Ring"/>
+    <tag k="surface" v="concrete"/>
+    <tag k="turn:lanes" v="none|none|none|merge_to_left"/>
+  </way>
+  <way id="816906348">
+    <nd ref="7629664289"/>
+    <nd ref="2931819932"/>
+    <tag k="highway" v="motorway"/>
+    <tag k="int_ref" v="E 30;E 55"/>
+    <tag k="lanes" v="3"/>
+    <tag k="lit" v="no"/>
+    <tag k="maxheight" v="default"/>
+    <tag k="maxspeed" v="none"/>
+    <tag k="name" v="Südlicher Berliner Ring"/>
+    <tag k="note:name" v="Der reg_name, sowie ggf. der loc_name sind dem zugehörigen Wikipediaartikel entnommen."/>
+    <tag k="oneway" v="yes"/>
+    <tag k="ref" v="A 10"/>
+    <tag k="reg_name" v="Berliner Ring"/>
+    <tag k="surface" v="concrete"/>
+  </way>
+  <way id="816906351">
+    <nd ref="473368964"/>
+    <nd ref="7966861708"/>
+    <nd ref="7966861728"/>
+    <nd ref="2252561560"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Holunderweg"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="854282338">
+    <nd ref="7966861708"/>
+    <nd ref="7966861711"/>
+    <nd ref="7966861712"/>
+    <nd ref="7966861707"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Holunderweg"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="854282341">
+    <nd ref="7966861729"/>
+    <nd ref="7966861725"/>
+    <nd ref="7966861724"/>
+    <nd ref="7966861715"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Tulpenweg"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="854282345">
+    <nd ref="7966861730"/>
+    <nd ref="7966861729"/>
+    <nd ref="7966861720"/>
+    <nd ref="7966861721"/>
+    <nd ref="7966861716"/>
+    <nd ref="7966861717"/>
+    <nd ref="7966861728"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Tulpenweg"/>
+    <tag k="postal_code" v="15834"/>
+  </way>
+  <way id="884124823">
+    <nd ref="3335487151"/>
+    <nd ref="370463240"/>
+    <tag k="cycleway:both" v="no"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Kastanienallee"/>
+    <tag k="oneway" v="no"/>
+    <tag k="sidewalk" v="none"/>
+  </way>
+  <way id="884124824">
+    <nd ref="370463240"/>
+    <nd ref="29648471"/>
+    <tag k="bicycle" v="use_sidepath"/>
+    <tag k="cycleway:right" v="separate"/>
+    <tag k="foot" v="use_sidepath"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Groß Kienitzer Landstraße"/>
+    <tag k="ref" v="L 402"/>
+    <tag k="sidewalk:right" v="separate"/>
+    <tag k="smoothness" v="good"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="884124825">
+    <nd ref="1909854864"/>
+    <nd ref="8222316494"/>
+    <nd ref="1909854853"/>
+    <nd ref="2684927826"/>
+    <tag k="bicycle" v="use_sidepath"/>
+    <tag k="cycleway:right" v="separate"/>
+    <tag k="foot" v="use_sidepath"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Groß Kienitzer Dorfstraße"/>
+    <tag k="old_name" v="Dorfstraße"/>
+    <tag k="postal_code" v="15831"/>
+    <tag k="ref" v="L 402"/>
+    <tag k="sidewalk:right" v="separate"/>
+    <tag k="smoothness" v="good"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="914630487">
+    <nd ref="8496353098"/>
+    <nd ref="706934448"/>
+    <nd ref="3335487151"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Kastanienallee"/>
+    <tag k="oneway" v="no"/>
+  </way>
+  <way id="914630494">
+    <nd ref="8496358638"/>
+    <nd ref="8496358641"/>
+    <nd ref="8496358639"/>
+    <tag k="highway" v="razed"/>
+  </way>
+  <way id="937844324">
+    <nd ref="1704521855"/>
+    <nd ref="8688733048"/>
+    <tag k="access" v="yes"/>
+    <tag k="bicycle" v="no"/>
+    <tag k="cycleway" v="no"/>
+    <tag k="foot" v="no"/>
+    <tag k="highway" v="primary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="70"/>
+    <tag k="oneway" v="yes"/>
+    <tag k="ref" v="B 96"/>
+    <tag k="smoothness" v="good"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="toll:N3" v="yes"/>
+    <tag k="toll:hgv" v="yes"/>
+    <tag k="toll:operator" v="Toll Collect"/>
+    <tag k="turn:lanes" v="none|none|merge_to_left"/>
+  </way>
+  <way id="938135207">
+    <nd ref="393875323"/>
+    <nd ref="393875320"/>
+    <nd ref="3183693705"/>
+    <nd ref="254333911"/>
+    <tag k="construction" v="residential"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Rangsdorfer Weg"/>
+    <tag k="surface" v="paved"/>
+  </way>
+  <way id="942898940">
+    <nd ref="370956957"/>
+    <nd ref="3183693704"/>
+    <nd ref="393875417"/>
+    <nd ref="370956956"/>
+    <nd ref="8731220877"/>
+    <nd ref="8731220878"/>
+    <nd ref="8731220886"/>
+    <nd ref="8731220879"/>
+    <nd ref="8731220880"/>
+    <nd ref="8731220881"/>
+    <nd ref="8731220885"/>
+    <nd ref="8731220882"/>
+    <nd ref="254334574"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Gutsbahntrasse"/>
+    <tag k="source" v="survey"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="942906302">
+    <nd ref="256006923"/>
+    <nd ref="8829853678"/>
+    <nd ref="8731270134"/>
+    <nd ref="8731270135"/>
+    <nd ref="256006902"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Lankenschlag"/>
+    <tag k="postal_code" v="15827"/>
+  </way>
+  <way id="943221313">
+    <nd ref="734142915"/>
+    <nd ref="8733710280"/>
+    <tag k="highway" v="residential"/>
+    <tag k="lanes" v="1"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="954014221">
+    <nd ref="4395091772"/>
+    <nd ref="3183549383"/>
+    <nd ref="8829870707"/>
+    <tag k="cycleway:both" v="no"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="lane_markings" v="no"/>
+    <tag k="name" v="Am Bahnhofsschlag"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="955124183">
+    <nd ref="8840204905"/>
+    <nd ref="8840204899"/>
+    <nd ref="8840204903"/>
+    <nd ref="8840204902"/>
+    <tag k="highway" v="unclassified"/>
+  </way>
+  <way id="955124184">
+    <nd ref="268107487"/>
+    <nd ref="268107726"/>
+    <nd ref="473224518"/>
+    <tag k="cycleway" v="no"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Nymphenseeweg"/>
+    <tag k="postal_code" v="15834"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+
+</osm>
+
diff --git a/selfdrive/mapd/test/mock_osm_response_02.xml b/selfdrive/mapd/test/mock_osm_response_02.xml
new file mode 100644
index 00000000000000..bbcf72f3efee4d
--- /dev/null
+++ b/selfdrive/mapd/test/mock_osm_response_02.xml
@@ -0,0 +1,11529 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- 
+  OSM response to below query 8 Sept 2021.
+
+  way(around:3000.0,48.16573269276522, 9.81418473659117)
+    [highway]
+    [highway!~"^(footway|path|corridor|bridleway|steps|cycleway|construction|bus_guideway|escape|service|track)$"];
+  (._;>;);
+  out;
+ -->
+<osm version="0.6" generator="Overpass API 0.7.56.9 76e5016d">
+<note>The data included in this document is from www.openstreetmap.org. The data is made available under ODbL.</note>
+<meta osm_base="2021-09-08T07:52:43Z"/>
+
+  <node id="25970404" lat="48.1885590" lon="9.8287360">
+    <tag k="railway" v="level_crossing"/>
+  </node>
+  <node id="25970454" lat="48.1632977" lon="9.8166374"/>
+  <node id="25970455" lat="48.1627989" lon="9.8173762"/>
+  <node id="25970458" lat="48.1606851" lon="9.8213863"/>
+  <node id="31388925" lat="48.1736206" lon="9.8600805"/>
+  <node id="31388926" lat="48.1731598" lon="9.8597680"/>
+  <node id="31388927" lat="48.1721314" lon="9.8593198"/>
+  <node id="31388928" lat="48.1709070" lon="9.8590855"/>
+  <node id="31388929" lat="48.1663372" lon="9.8592708"/>
+  <node id="31388930" lat="48.1649145" lon="9.8588664"/>
+  <node id="31388931" lat="48.1637849" lon="9.8582248"/>
+  <node id="31388932" lat="48.1608526" lon="9.8552561"/>
+  <node id="31388933" lat="48.1587234" lon="9.8520885"/>
+  <node id="31388934" lat="48.1518921" lon="9.8372782"/>
+  <node id="31388935" lat="48.1504584" lon="9.8351512">
+    <tag k="highway" v="motorway_junction"/>
+    <tag k="name" v="Biberach-Nord"/>
+  </node>
+  <node id="31388936" lat="48.1494083" lon="9.8340030"/>
+  <node id="31388937" lat="48.1485658" lon="9.8332713"/>
+  <node id="31388938" lat="48.1465900" lon="9.8320239"/>
+  <node id="31388939" lat="48.1443124" lon="9.8306441"/>
+  <node id="31388940" lat="48.1424589" lon="9.8289207"/>
+  <node id="31388941" lat="48.1406704" lon="9.8270881"/>
+  <node id="31388942" lat="48.1392575" lon="9.8257995"/>
+  <node id="31388943" lat="48.1383410" lon="9.8250923"/>
+  <node id="31388944" lat="48.1357992" lon="9.8236436"/>
+  <node id="31388945" lat="48.1341655" lon="9.8230177"/>
+  <node id="31388946" lat="48.1325443" lon="9.8226467"/>
+  <node id="31388947" lat="48.1308448" lon="9.8224914"/>
+  <node id="31388948" lat="48.1288747" lon="9.8226007"/>
+  <node id="31388949" lat="48.1268225" lon="9.8230782"/>
+  <node id="31388950" lat="48.1248031" lon="9.8239018"/>
+  <node id="31388951" lat="48.1219770" lon="9.8257389">
+    <tag k="created_by" v="JOSM"/>
+  </node>
+  <node id="31388952" lat="48.1168411" lon="9.8305125"/>
+  <node id="31389011" lat="48.1168690" lon="9.8306449"/>
+  <node id="31389012" lat="48.1220839" lon="9.8258201"/>
+  <node id="31389014" lat="48.1284902" lon="9.8228105"/>
+  <node id="31389015" lat="48.1309367" lon="9.8226289"/>
+  <node id="31389016" lat="48.1325688" lon="9.8227883"/>
+  <node id="31389017" lat="48.1341921" lon="9.8231816"/>
+  <node id="31389018" lat="48.1357600" lon="9.8237745"/>
+  <node id="31389019" lat="48.1382146" lon="9.8251728"/>
+  <node id="31389020" lat="48.1391976" lon="9.8259176"/>
+  <node id="31389021" lat="48.1406059" lon="9.8271990"/>
+  <node id="31389022" lat="48.1424131" lon="9.8290562"/>
+  <node id="31389023" lat="48.1441783" lon="9.8307088"/>
+  <node id="31389024" lat="48.1466224" lon="9.8322041"/>
+  <node id="31389025" lat="48.1489696" lon="9.8338048"/>
+  <node id="31389026" lat="48.1494811" lon="9.8342865"/>
+  <node id="31389027" lat="48.1505021" lon="9.8354325"/>
+  <node id="31389028" lat="48.1517950" lon="9.8373712"/>
+  <node id="31389029" lat="48.1586333" lon="9.8521964"/>
+  <node id="31389030" lat="48.1608186" lon="9.8554086"/>
+  <node id="31389031" lat="48.1637648" lon="9.8583758"/>
+  <node id="31389032" lat="48.1650997" lon="9.8590921"/>
+  <node id="31389034" lat="48.1709095" lon="9.8592402"/>
+  <node id="31389035" lat="48.1721341" lon="9.8594762"/>
+  <node id="31389036" lat="48.1732038" lon="9.8599705"/>
+  <node id="31389037" lat="48.1735888" lon="9.8602494"/>
+  <node id="34666339" lat="48.1450172" lon="9.8282092">
+    <tag k="railway" v="level_crossing"/>
+  </node>
+  <node id="34668956" lat="48.1459158" lon="9.8316495"/>
+  <node id="34668957" lat="48.1459581" lon="9.8318374"/>
+  <node id="34668958" lat="48.1446372" lon="9.8266337">
+    <tag k="railway" v="level_crossing"/>
+  </node>
+  <node id="34668959" lat="48.1392414" lon="9.8082292">
+    <tag k="railway" v="level_crossing"/>
+  </node>
+  <node id="34785041" lat="48.1841681" lon="9.7824813"/>
+  <node id="34785042" lat="48.1838528" lon="9.7832283"/>
+  <node id="34785043" lat="48.1836289" lon="9.7836237"/>
+  <node id="34785045" lat="48.1833908" lon="9.7838754"/>
+  <node id="34785046" lat="48.1830723" lon="9.7841167"/>
+  <node id="34785049" lat="48.1818136" lon="9.7848216"/>
+  <node id="34785051" lat="48.1815724" lon="9.7850424"/>
+  <node id="34785052" lat="48.1812696" lon="9.7853570">
+    <tag k="maxspeed" v="70"/>
+    <tag k="traffic_sign" v="maxspeed"/>
+    <tag k="traffic_sign:direction" v="backward"/>
+  </node>
+  <node id="34785061" lat="48.1781775" lon="9.7911320"/>
+  <node id="34785066" lat="48.1748925" lon="9.7894497"/>
+  <node id="34785115" lat="48.1742142" lon="9.7959565"/>
+  <node id="34785120" lat="48.1732898" lon="9.7974734"/>
+  <node id="34785122" lat="48.1731164" lon="9.7978035"/>
+  <node id="34785124" lat="48.1730727" lon="9.7981809"/>
+  <node id="34785125" lat="48.1733688" lon="9.8004662"/>
+  <node id="34785126" lat="48.1732914" lon="9.8010653"/>
+  <node id="34785129" lat="48.1731372" lon="9.8018945"/>
+  <node id="34785130" lat="48.1726927" lon="9.8026338"/>
+  <node id="34785131" lat="48.1725253" lon="9.8031180"/>
+  <node id="34785132" lat="48.1724770" lon="9.8041302"/>
+  <node id="34785136" lat="48.1726007" lon="9.8056606"/>
+  <node id="34785138" lat="48.1724403" lon="9.8060175"/>
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+    <tag k="name" v="Ferdinand-Dünkel-Straße"/>
+    <tag k="survey:date" v="2019-07-05"/>
+    <tag k="traffic_sign" v="DE:250,1020-30"/>
+    <tag k="vehicle" v="destination"/>
+  </way>
+  <way id="803349448">
+    <nd ref="287901722"/>
+    <nd ref="433111883"/>
+    <nd ref="287901723"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="lcn" v="yes"/>
+    <tag k="width" v="2"/>
+  </way>
+  <way id="807781364">
+    <nd ref="319878889"/>
+    <nd ref="319878890"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Ulmenweg"/>
+  </way>
+  <way id="807781366">
+    <nd ref="34785122"/>
+    <nd ref="7820450393"/>
+    <nd ref="7553907909"/>
+    <nd ref="7553907908"/>
+    <nd ref="7553907907"/>
+    <nd ref="7553907906"/>
+    <nd ref="7553907905"/>
+    <nd ref="319878890"/>
+    <nd ref="7553907904"/>
+    <nd ref="7553907903"/>
+    <nd ref="7553907902"/>
+    <nd ref="7553907901"/>
+    <nd ref="7553907900"/>
+    <nd ref="7553907899"/>
+    <nd ref="7553907898"/>
+    <nd ref="7553907897"/>
+    <nd ref="7553907896"/>
+    <nd ref="7553886665"/>
+    <nd ref="7553907895"/>
+    <nd ref="7553907894"/>
+    <nd ref="7553907893"/>
+    <nd ref="7553907892"/>
+    <nd ref="7553886675"/>
+    <nd ref="7553907891"/>
+    <nd ref="7553907890"/>
+    <nd ref="7553886680"/>
+    <nd ref="7553886679"/>
+    <nd ref="7553907889"/>
+    <nd ref="7553907887"/>
+    <nd ref="7553907886"/>
+    <nd ref="7553907885"/>
+    <nd ref="7553886684"/>
+    <nd ref="7553886683"/>
+    <nd ref="7553886682"/>
+    <nd ref="7553886681"/>
+    <nd ref="7553907888"/>
+    <nd ref="7553886678"/>
+    <nd ref="7553886677"/>
+    <nd ref="7553886676"/>
+    <nd ref="7553886675"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Ulmenweg"/>
+  </way>
+  <way id="807781992">
+    <nd ref="7553885049"/>
+    <nd ref="7820450391"/>
+    <nd ref="7553885048"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="name" v="Schulstraße"/>
+  </way>
+  <way id="825823509">
+    <nd ref="1709294674"/>
+    <nd ref="1709294673"/>
+    <nd ref="1887995486"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Ortsstraße"/>
+    <tag k="ref" v="K 7596"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="825823510">
+    <nd ref="1709294672"/>
+    <nd ref="1709294671"/>
+    <nd ref="1709294670"/>
+    <nd ref="1709294669"/>
+    <nd ref="1709294668"/>
+    <nd ref="1709294667"/>
+    <nd ref="1709294666"/>
+    <nd ref="1709294663"/>
+    <nd ref="1709294661"/>
+    <nd ref="1709294660"/>
+    <nd ref="1709294659"/>
+    <nd ref="1709294656"/>
+    <nd ref="1709294655"/>
+    <nd ref="1709294654"/>
+    <nd ref="1709294653"/>
+    <nd ref="1709294652"/>
+    <nd ref="315568124"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="image" v="https://storage13.openstreetcam.org/files/photo/2020/4/12/lth/2117466_0_583a6_4.jpg"/>
+    <tag k="lane_markings" v="no"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Ortsstraße"/>
+    <tag k="ref" v="K 7596"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="survey:date" v="2020-04-12"/>
+  </way>
+  <way id="837894171">
+    <nd ref="252620955"/>
+    <nd ref="6074193995"/>
+    <nd ref="3183025280"/>
+    <nd ref="6074193994"/>
+    <nd ref="316465139"/>
+    <nd ref="252620956"/>
+    <nd ref="252620957"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Alberweiler Straße"/>
+    <tag k="ref" v="L 266"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="858527921">
+    <nd ref="8003428997"/>
+    <nd ref="57567847"/>
+    <tag k="change:lanes:backward" v="no"/>
+    <tag k="change:lanes:forward" v="not_left|not_right"/>
+    <tag k="highway" v="primary"/>
+    <tag k="lanes" v="3"/>
+    <tag k="lanes:forward" v="2"/>
+    <tag k="maxspeed" v="70"/>
+    <tag k="name" v="Ehinger Straße"/>
+    <tag k="priority_road" v="designated"/>
+    <tag k="ref" v="B 465"/>
+    <tag k="sidewalk" v="no"/>
+    <tag k="source:maxspeed" v="sign"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="turn:lanes:forward" v="left|through;right"/>
+    <tag k="zone:traffic" v="DE:rural"/>
+  </way>
+  <way id="870379541">
+    <nd ref="315589824"/>
+    <nd ref="8108340504"/>
+    <tag k="cycleway:both" v="no"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Bahnhofstraße"/>
+    <tag k="ref" v="K 7527"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="870379542">
+    <nd ref="315589882"/>
+    <nd ref="315589824"/>
+    <tag k="cycleway:both" v="no"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="lcn" v="yes"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Bahnhofstraße"/>
+    <tag k="ref" v="K 7527"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="876583549">
+    <nd ref="88913252"/>
+    <nd ref="3205941015"/>
+    <nd ref="640116827"/>
+    <nd ref="7366481757"/>
+    <nd ref="7191654988"/>
+    <nd ref="3140770466"/>
+    <nd ref="2301336863"/>
+    <nd ref="192532687"/>
+    <nd ref="3468412589"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="name" v="Ulmer Straße"/>
+    <tag k="ref" v="L 267"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="876583550">
+    <nd ref="49436789"/>
+    <nd ref="253072952"/>
+    <tag k="highway" v="secondary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="lit" v="no"/>
+    <tag k="maxspeed" v="100"/>
+    <tag k="ref" v="L 267"/>
+    <tag k="source:maxspeed" v="sign"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="885980825">
+    <nd ref="1888010417"/>
+    <nd ref="7820450390"/>
+    <nd ref="3178540691"/>
+    <nd ref="319879000"/>
+    <nd ref="319878921"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="maxweight" v="5"/>
+    <tag k="name" v="Alte Straße"/>
+  </way>
+  <way id="902231555">
+    <nd ref="2828582740"/>
+    <nd ref="2828582739"/>
+    <tag k="highway" v="residential"/>
+    <tag k="lit" v="no"/>
+    <tag k="maxweight" v="6"/>
+    <tag k="name" v="Höllweiherstraße"/>
+    <tag k="surface" v="paving_stones"/>
+  </way>
+  <way id="916462523">
+    <nd ref="8511905557"/>
+    <nd ref="315568407"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="50"/>
+    <tag k="ref" v="K 7528"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="916462524">
+    <nd ref="34785061"/>
+    <nd ref="6591128941"/>
+    <tag k="highway" v="tertiary"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="100"/>
+    <tag k="name" v="Ingerkinger Straße"/>
+    <tag k="ref" v="K 7528"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="917067159">
+    <nd ref="252599742"/>
+    <nd ref="7157179820"/>
+    <nd ref="252599743"/>
+    <nd ref="7157179821"/>
+    <nd ref="252599744"/>
+    <nd ref="2481515711"/>
+    <nd ref="2481515713"/>
+    <nd ref="252599745"/>
+    <nd ref="2481515719"/>
+    <nd ref="488092085"/>
+    <nd ref="8517876867"/>
+    <tag k="highway" v="unclassified"/>
+  </way>
+  <way id="917067163">
+    <nd ref="252599970"/>
+    <nd ref="1242105592"/>
+    <nd ref="252599971"/>
+    <nd ref="3206347958"/>
+    <nd ref="252599972"/>
+    <nd ref="3206347957"/>
+    <nd ref="252599973"/>
+    <nd ref="252599974"/>
+    <nd ref="287900341"/>
+    <nd ref="252599975"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="lcn" v="yes"/>
+    <tag k="maxspeed" v="100"/>
+    <tag k="name" v="Barabein"/>
+    <tag k="oneway" v="no"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="width" v="3"/>
+  </way>
+  <way id="920176104">
+    <nd ref="450133171"/>
+    <nd ref="450133172"/>
+    <nd ref="450125117"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Alte Steige"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="width" v="3"/>
+  </way>
+  <way id="924443933">
+    <nd ref="8579767681"/>
+    <nd ref="8579767632"/>
+    <nd ref="8579767633"/>
+    <nd ref="8579767634"/>
+    <nd ref="8579767635"/>
+    <nd ref="8579767636"/>
+    <nd ref="8579767637"/>
+    <nd ref="8579767621"/>
+    <nd ref="316465456"/>
+    <nd ref="316465460"/>
+    <nd ref="3164272793"/>
+    <nd ref="316465461"/>
+    <nd ref="316465450"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Im Winkel"/>
+    <tag k="surface" v="unpaved"/>
+  </way>
+  <way id="924443934">
+    <nd ref="252601874"/>
+    <nd ref="3164272794"/>
+    <nd ref="316465450"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Im Winkel"/>
+    <tag k="surface" v="unpaved"/>
+  </way>
+  <way id="930636857">
+    <nd ref="319878499"/>
+    <nd ref="319878497"/>
+    <nd ref="3183020329"/>
+    <nd ref="565503867"/>
+    <nd ref="5299936298"/>
+    <nd ref="2091941183"/>
+    <nd ref="8628970282"/>
+    <nd ref="553053922"/>
+    <nd ref="553053937"/>
+    <nd ref="319878804"/>
+    <nd ref="8628970283"/>
+    <tag k="highway" v="residential"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Lindenstraße"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="traffic_sign" v="DE:274.1[30]"/>
+    <tag k="zone:maxspeed" v="DE:30"/>
+  </way>
+  <way id="930636858">
+    <nd ref="8628970283"/>
+    <nd ref="3182562522"/>
+    <nd ref="8544528249"/>
+    <nd ref="8628970284"/>
+    <nd ref="3182562523"/>
+    <tag k="highway" v="residential"/>
+    <tag k="lanes" v="1"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Lindenstraße"/>
+    <tag k="oneway" v="yes"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="traffic_sign" v="DE:274.1[30]"/>
+    <tag k="zone:maxspeed" v="DE:30"/>
+  </way>
+  <way id="930636859">
+    <nd ref="3182562523"/>
+    <nd ref="8628970287"/>
+    <nd ref="8628970286"/>
+    <nd ref="8628970285"/>
+    <nd ref="8628970283"/>
+    <tag k="highway" v="residential"/>
+    <tag k="lanes" v="1"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Lindenstraße"/>
+    <tag k="oneway" v="yes"/>
+    <tag k="surface" v="asphalt"/>
+    <tag k="traffic_sign" v="DE:274.1[30]"/>
+    <tag k="zone:maxspeed" v="DE:30"/>
+  </way>
+  <way id="935522644">
+    <nd ref="433029709"/>
+    <nd ref="433029711"/>
+    <nd ref="433029713"/>
+    <nd ref="433029715"/>
+    <nd ref="433029716"/>
+    <tag k="highway" v="residential"/>
+    <tag k="name" v="Rißhöfer Weg"/>
+    <tag k="surface" v="paved"/>
+    <tag k="width" v="3"/>
+  </way>
+  <way id="935534196">
+    <nd ref="316465100"/>
+    <nd ref="3160927612"/>
+    <nd ref="3160927613"/>
+    <nd ref="316465099"/>
+    <nd ref="316465098"/>
+    <tag k="highway" v="residential"/>
+    <tag k="lcn" v="yes"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="name" v="Eichenbergstraße"/>
+    <tag k="surface" v="asphalt"/>
+  </way>
+  <way id="938132626">
+    <nd ref="289698098"/>
+    <nd ref="289698099"/>
+    <nd ref="289698100"/>
+    <nd ref="289698101"/>
+    <nd ref="2934633165"/>
+    <nd ref="2934633167"/>
+    <nd ref="289698103"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="lanes" v="2"/>
+    <tag k="maxspeed" v="100"/>
+    <tag k="surface" v="paved"/>
+    <tag k="width" v="5"/>
+  </way>
+  <way id="938132627">
+    <nd ref="294194946"/>
+    <nd ref="319881157"/>
+    <nd ref="319881198"/>
+    <nd ref="319881199"/>
+    <nd ref="319881201"/>
+    <nd ref="319881220"/>
+    <nd ref="319881221"/>
+    <nd ref="319881222"/>
+    <nd ref="319881274"/>
+    <nd ref="319881280"/>
+    <nd ref="768060046"/>
+    <nd ref="294194949"/>
+    <tag k="highway" v="unclassified"/>
+    <tag k="lcn" v="yes"/>
+    <tag k="width" v="4"/>
+  </way>
+  <way id="943780290">
+    <nd ref="319879003"/>
+    <nd ref="307077733"/>
+    <tag k="highway" v="residential"/>
+    <tag k="maxspeed" v="30"/>
+    <tag k="maxweight" v="5"/>
+    <tag k="name" v="Alte Straße"/>
+    <tag k="oneway" v="yes"/>
+  </way>
+
+</osm>
diff --git a/selfdrive/mapd/test/test_NodesData.py b/selfdrive/mapd/test/test_NodesData.py
new file mode 100644
index 00000000000000..42ef9139f05cf3
--- /dev/null
+++ b/selfdrive/mapd/test/test_NodesData.py
@@ -0,0 +1,354 @@
+import unittest
+import numpy as np
+from openpilot.selfdrive.mapd.lib.geo import DIRECTION
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.mapd.lib.WayRelation import WayRelation
+from openpilot.selfdrive.mapd.lib.NodesData import nodes_raw_data_array_for_wr, node_calculations, \
+  spline_curvature_calculations, split_speed_section_by_sign, split_speed_section_by_curv_degree, speed_section, \
+  speed_limits_for_curvatures_data, is_wr_a_valid_divertion_from_node, SpeedLimitSection, TurnSpeedLimitSection, \
+  NodesData, NodeDataIdx
+from openpilot.selfdrive.mapd.test.mock_data import mockOSMWay_01_01_LongCurvy, mockNodesData01, mockCurveSectionSin, \
+  mockCurveSteepCurvChange, mockCurveSteepCurvChangeShort, mockCurveSmoothCurveChange, \
+  mockOSMWay_02_01_CurvyTownWithIntersections, mockOSMWay_02_02_Divertion_34785115, mockOSMWay_02_03_Short_3_node_way, \
+  mockRouteData_02_01, mockRouteData_02_02_single_wr, mockRouteData_02_03
+from numpy.testing import assert_array_almost_equal
+
+
+class TestNodesDataFileFunctions(unittest.TestCase):
+  def test_nodes_raw_data_array_for_wr(self):
+    wr = WayRelation(mockOSMWay_01_01_LongCurvy)
+    data_e = np.array([(n.id, n.lat, n.lon, wr.speed_limit) for n in wr.way.nodes], dtype=float)
+    data = nodes_raw_data_array_for_wr(wr)
+
+    assert_array_almost_equal(data, data_e)
+
+  def test_nodes_raw_data_array_for_wr_flips_when_backwards(self):
+    wr = WayRelation(mockOSMWay_01_01_LongCurvy)
+    wr.direction = DIRECTION.BACKWARD
+
+    data_e = np.array([(n.id, n.lat, n.lon, wr.speed_limit) for n in wr.way.nodes], dtype=float)
+    data_e = np.flip(data_e, axis=0)
+
+    data = nodes_raw_data_array_for_wr(wr)
+
+    assert_array_almost_equal(data, data_e)
+
+  def test_nodes_raw_data_array_for_wr_drops_last(self):
+    wr = WayRelation(mockOSMWay_01_01_LongCurvy)
+    data_e = np.array([(n.id, n.lat, n.lon, wr.speed_limit) for n in wr.way.nodes], dtype=float)[:-1]
+    data = nodes_raw_data_array_for_wr(wr, drop_last=True)
+
+    assert_array_almost_equal(data, data_e)
+
+  def test_node_calculations(self):
+    points = mockNodesData01.radians
+
+    v, dp, dn, dr, b = node_calculations(points)
+
+    assert_array_almost_equal(v, mockNodesData01.v)
+    assert_array_almost_equal(dp, mockNodesData01.dp)
+    assert_array_almost_equal(dn, mockNodesData01.dn)
+    assert_array_almost_equal(dr, mockNodesData01.dr)
+    assert_array_almost_equal(b, mockNodesData01.b)
+
+  def test_node_calculations_index_error(self):
+    points = mockNodesData01.radians[:2]
+
+    with self.assertRaises(IndexError):
+      node_calculations(points)
+
+  def test_spline_curvature_calculations(self):
+    vect = mockNodesData01.v
+    dist_prev = mockNodesData01.dp
+
+    curv, curv_ds = spline_curvature_calculations(vect, dist_prev)
+
+    assert_array_almost_equal(curv, mockNodesData01.curv)
+    assert_array_almost_equal(curv_ds, mockNodesData01.curv_ds)
+
+  def test_spline_curvature_calculations_with_route_data(self):
+    mockRouteData_02_01.reset()
+    nodes_data = mockRouteData_02_01._nodes_data
+    vect = np.column_stack((nodes_data[:, 4], nodes_data[:, 5]))
+    dist_prev = nodes_data[:, 6]
+
+    curv, curv_ds = spline_curvature_calculations(vect, dist_prev)
+
+    assert_array_almost_equal(curv, mockRouteData_02_01._curv)
+    assert_array_almost_equal(curv_ds, mockRouteData_02_01._curv_ds)
+
+  def test_split_speed_section_by_sign(self):
+    curv_sec = mockCurveSectionSin.curv_sec
+    new_secs = split_speed_section_by_sign(curv_sec)
+
+    # 3 sections with matching initial and final distance
+    self.assertEqual(len(new_secs), 3)
+    self.assertEqual(new_secs[0][0][2], mockCurveSectionSin.di)
+    self.assertEqual(new_secs[2][-1][2], mockCurveSectionSin.df)
+
+    # All new sections has same sign internally
+    for sec in new_secs:
+      self.assertEqual(np.average(sec, axis=0)[1], sec[0][1])
+
+    # Sections change sign
+    for idx in range(2):
+      self.assertNotEqual(new_secs[idx][0][1], new_secs[idx + 1][0][1])
+
+    # total items consistency
+    lengths = [len(sec) for sec in new_secs]
+    self.assertEqual(len(curv_sec), sum(lengths))
+
+  def test_split_speed_section_by_curv_degree(self):
+    curv_sec = mockCurveSteepCurvChange.curv_sec
+    new_secs = split_speed_section_by_curv_degree(curv_sec)
+
+    # 3 sections with matching initial and final distance
+    self.assertEqual(len(new_secs), 3)
+    self.assertEqual(new_secs[0][0][2], mockCurveSteepCurvChange.di)
+    self.assertEqual(new_secs[2][-1][2], mockCurveSteepCurvChange.df)
+
+    # Sections split at the right points
+    split_dist = [sec[-1][2] for sec in new_secs]
+    self.assertListEqual(split_dist, [50., 150., 200.])
+
+  def test_split_speed_section_by_curv_degree_does_nothing_if_short(self):
+    curv_sec = mockCurveSteepCurvChangeShort.curv_sec
+    new_secs = split_speed_section_by_curv_degree(curv_sec)
+
+    self.assertEqual(len(new_secs), 1)
+    assert_array_almost_equal(curv_sec, new_secs[0])
+
+  def test_split_speed_section_by_curv_degree_does_nothing_if_no_substantial_change(self):
+    curv_sec = mockCurveSmoothCurveChange.curv_sec
+    new_secs = split_speed_section_by_curv_degree(curv_sec)
+
+    self.assertEqual(len(new_secs), 1)
+    assert_array_almost_equal(curv_sec, new_secs[0])
+
+  def test_speed_section(self):
+    curv_sec = mockCurveSectionSin.curv_sec
+
+    speed_secs = speed_section(curv_sec)
+    expected = np.array([0., 1000., 1.51657509, 1.])
+
+    assert_array_almost_equal(speed_secs, expected)
+
+  def test_speed_limits_for_curvatures_data(self):
+    curv = mockCurveSectionSin.curv
+    curv_ds = mockCurveSectionSin.curv_ds
+
+    expected = np.array([
+      [10., 490., 1.51657509, 1.],
+      [510., 990., 1.51657509, -1.]])
+    limits = speed_limits_for_curvatures_data(curv, curv_ds)
+
+    assert_array_almost_equal(limits, expected)
+
+  def test_is_wr_a_valid_divertion_from_node(self):
+    wr = WayRelation(mockOSMWay_02_01_CurvyTownWithIntersections)
+    mockOSMWay_02_02_Divertion_34785115.tags['oneway'] = 'yes'
+    wr_div = WayRelation(mockOSMWay_02_02_Divertion_34785115)
+
+    # False if id already in route
+    wr_ids = [wr.wr_id, wr_div.wr_id]
+    self.assertFalse(is_wr_a_valid_divertion_from_node(wr_div, 34785115, wr_ids))
+
+    # True if id not in route, node_id is edge and not prohibited
+    wr_ids = [wr.wr_id, 11111, 22222]
+    self.assertTrue(is_wr_a_valid_divertion_from_node(wr_div, 34785115, wr_ids))
+
+    # False if id not in route, node_id is edge but prohibited (wrong direction from node 319503453)
+    self.assertFalse(is_wr_a_valid_divertion_from_node(wr_div, 319503453, wr_ids))
+
+    # False if id not in route, node_id is not edge
+    self.assertFalse(is_wr_a_valid_divertion_from_node(wr_div, 44444, wr_ids))
+
+
+class TestSpeedLimitSection(unittest.TestCase):
+  def test_speed_limit_section_init(self):
+    section = SpeedLimitSection(10., 20., 50.)
+
+    self.assertEqual(section.start, 10.)
+    self.assertEqual(section.end, 20.)
+    self.assertEqual(section.value, 50.)
+
+
+class TestTurnSpeedLimitSection(unittest.TestCase):
+  def test_turn_speed_limit_section_init(self):
+    section = TurnSpeedLimitSection(10., 20., 50., -1.)
+
+    self.assertEqual(section.start, 10.)
+    self.assertEqual(section.end, 20.)
+    self.assertEqual(section.value, 50.)
+    self.assertEqual(section.curv_sign, -1.)
+
+
+class TestNodesData(unittest.TestCase):
+  def test_init_with_empty_list(self):
+    nodesData = NodesData([], {})
+
+    self.assertEqual(len(nodesData._nodes_data), 0)
+    num_diverstions = sum([len(d) for d in nodesData._divertions])
+    self.assertEqual(num_diverstions, 0)
+    self.assertEqual(len(nodesData._curvature_speed_sections_data), 0)
+
+  def test_init_with_single_wr_includes_all_wr_nodes(self):
+    mockRouteData_02_02_single_wr.reset()
+    way_relations = mockRouteData_02_02_single_wr.wrs
+    wr_index = mockRouteData_02_02_single_wr.way_collection.wr_index
+
+    nodesData = NodesData(way_relations, wr_index)
+
+    assert_array_almost_equal(nodesData._nodes_data, mockRouteData_02_02_single_wr._nodes_data)
+    assert_array_almost_equal(nodesData._curvature_speed_sections_data,
+                              mockRouteData_02_02_single_wr._curvature_speed_sections_data)
+    self.assertListEqual(nodesData._divertions, mockRouteData_02_02_single_wr._divertions)
+    self.assertEqual(len(nodesData._nodes_data), len(way_relations[0].way.nodes))
+    self.assertEqual(len(nodesData._curvature_speed_sections_data), 6)
+    num_diverstions = sum([len(d) for d in nodesData._divertions])
+    self.assertEqual(num_diverstions, 6)
+
+  def test_init_with_less_than_4_nodes(self):
+    wr_t = WayRelation(mockOSMWay_02_03_Short_3_node_way)
+
+    nodesData = NodesData([wr_t], {})
+
+    self.assertEqual(len(nodesData._nodes_data), 0)
+    num_diverstions = sum([len(d) for d in nodesData._divertions])
+    self.assertEqual(num_diverstions, 0)
+    self.assertEqual(len(nodesData._curvature_speed_sections_data), 0)
+
+  def test_init_with_multiple_wr(self):
+    mockRouteData_02_01.reset()
+    way_relations = mockRouteData_02_01.wrs
+    wr_index = mockRouteData_02_01.way_collection.wr_index
+
+    nodesData = NodesData(way_relations, wr_index)
+
+    assert_array_almost_equal(nodesData._nodes_data, mockRouteData_02_01._nodes_data)
+    assert_array_almost_equal(nodesData._curvature_speed_sections_data, mockRouteData_02_01._curvature_speed_sections_data)
+    self.assertListEqual(nodesData._divertions, mockRouteData_02_01._divertions)
+    self.assertEqual(len(nodesData._curvature_speed_sections_data), 9)
+    num_diverstions = sum([len(d) for d in nodesData._divertions])
+    self.assertEqual(num_diverstions, 14)
+
+  def test_count(self):
+    mockRouteData_02_01.reset()
+    way_relations = mockRouteData_02_01.wrs
+    wr_index = mockRouteData_02_01.way_collection.wr_index
+    num_n = sum([len(wr.way.nodes) for wr in way_relations]) - len(way_relations) + 1
+
+    nodesData = NodesData(way_relations, wr_index)
+
+    self.assertEqual(nodesData.count, num_n)
+
+  def test_get_on_empty(self):
+    wr_t = WayRelation(mockOSMWay_02_03_Short_3_node_way)
+
+    nodesData = NodesData([wr_t], {})
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.node_id), np.array([]))
+
+  def test_get_values(self):
+    mockRouteData_02_01.reset()
+    way_relations = mockRouteData_02_01.wrs
+    wr_index = mockRouteData_02_01.way_collection.wr_index
+
+    nodesData = NodesData(way_relations, wr_index)
+
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.node_id), mockRouteData_02_01._nodes_data[:, 0])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.lat), mockRouteData_02_01._nodes_data[:, 1])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.lon), mockRouteData_02_01._nodes_data[:, 2])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.speed_limit), mockRouteData_02_01._nodes_data[:, 3])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.x), mockRouteData_02_01._nodes_data[:, 4])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.y), mockRouteData_02_01._nodes_data[:, 5])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.dist_prev), mockRouteData_02_01._nodes_data[:, 6])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.dist_next), mockRouteData_02_01._nodes_data[:, 7])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.dist_route), mockRouteData_02_01._nodes_data[:, 8])
+    assert_array_almost_equal(nodesData.get(NodeDataIdx.bearing), mockRouteData_02_01._nodes_data[:, 9])
+
+  def test_speed_limits_ahead_from_empty(self):
+    wr_t = WayRelation(mockOSMWay_02_03_Short_3_node_way)
+
+    nodesData = NodesData([wr_t], {})
+    self.assertEqual(len(nodesData.speed_limits_ahead(1, 10.)), 0)
+
+  def test_speed_limits_ahead(self):
+    mockRouteData_02_03.reset()
+    way_relations = mockRouteData_02_03.wrs
+    wr_index = mockRouteData_02_03.way_collection.wr_index
+
+    nodesData = NodesData(way_relations, wr_index)
+
+    # empty when ahead_idx is none.
+    self.assertEqual(len(nodesData.speed_limits_ahead(None, 10.)), 0)
+
+    # All limist from 0
+    all_limits = nodesData.speed_limits_ahead(1, nodesData.get(NodeDataIdx.dist_next)[0])
+    self.assertEqual(len(all_limits), 4)  # 4 limits on this mock road.
+    self.assertListEqual([sl.value for sl in all_limits], [v * CV.KPH_TO_MS for v in [50, 100, 50, 100]])
+    for idx, sl in enumerate(all_limits):
+      self.assertTrue(sl.end > sl.start)
+      self.assertTrue(sl.value > 0.)
+      if idx == 0:
+        self.assertEqual(sl.start, 0.)
+      else:
+        self.assertEqual(sl.start, all_limits[idx - 1].end)
+        self.assertNotEqual(sl.value, all_limits[idx - 1].value)
+
+  def test_distance_to_end_from_empty(self):
+    wr_t = WayRelation(mockOSMWay_02_03_Short_3_node_way)
+
+    nodesData = NodesData([wr_t], {})
+    self.assertIsNone(nodesData.distance_to_end(1, 10.))
+
+  def test_distance_to_end(self):
+    mockRouteData_02_03.reset()
+    way_relations = mockRouteData_02_03.wrs
+    wr_index = mockRouteData_02_03.way_collection.wr_index
+
+    nodesData = NodesData(way_relations, wr_index)
+
+    # none when ahead_idx is none.
+    self.assertIsNone(nodesData.distance_to_end(None, 10.))
+
+    # From the beginning
+    expected = np.sum(nodesData.get(NodeDataIdx.dist_next))
+    self.assertAlmostEqual(nodesData.distance_to_end(1, nodesData.get(NodeDataIdx.dist_next)[0]), expected)
+    self.assertAlmostEqual(nodesData.get(NodeDataIdx.dist_route)[-1], expected)
+
+    # From the node next to last
+    expected = nodesData.get(NodeDataIdx.dist_next)[-2]
+    self.assertAlmostEqual(nodesData.distance_to_end(nodesData.count - 2, 0.), expected)
+
+  def test_distance_to_node(self):
+    mockRouteData_02_03.reset()
+    way_relations = mockRouteData_02_03.wrs
+    wr_index = mockRouteData_02_03.way_collection.wr_index
+
+    nodesData = NodesData(way_relations, wr_index)
+    dist_to_node_ahead = 10.
+    node_id = 1887995486  # Some node id in the middle of the way. idx 50
+    node_idx = np.nonzero(nodesData.get(NodeDataIdx.node_id) == node_id)[0][0]
+
+    # none when ahead_idx is none.
+    self.assertIsNone(nodesData.distance_to_node(node_id, None, dist_to_node_ahead))
+
+    # From the beginning
+    expected = nodesData.get(NodeDataIdx.dist_route)[node_idx]
+    self.assertAlmostEqual(nodesData.distance_to_node(node_id, 1, nodesData.get(NodeDataIdx.dist_next)[0]), expected)
+
+    # From the end
+    expected = -np.sum(nodesData.get(NodeDataIdx.dist_next)[node_idx:])
+    self.assertAlmostEqual(nodesData.distance_to_node(node_id, len(nodesData.get(NodeDataIdx.node_id)) - 1, 0.), expected)
+
+    # From some node behind including dist to node ahead
+    ahead_idx = node_idx - 10
+    expected = np.sum(nodesData.get(NodeDataIdx.dist_next)[ahead_idx:node_idx]) + dist_to_node_ahead
+    self.assertAlmostEqual(nodesData.distance_to_node(node_id, ahead_idx, dist_to_node_ahead), expected)
+
+    # From some node ahead including dist to node ahead
+    ahead_idx = node_idx + 10
+    expected = -np.sum(nodesData.get(NodeDataIdx.dist_next)[node_idx:ahead_idx]) + dist_to_node_ahead
+    self.assertAlmostEqual(nodesData.distance_to_node(node_id, ahead_idx, dist_to_node_ahead), expected)
+
+# TODO: Missing tests for curvatures_speed_limit_sections_ahead and possible_divertions
diff --git a/selfdrive/mapd/test/test_WayRelation.py b/selfdrive/mapd/test/test_WayRelation.py
new file mode 100644
index 00000000000000..a0e78088b28f57
--- /dev/null
+++ b/selfdrive/mapd/test/test_WayRelation.py
@@ -0,0 +1,651 @@
+import copy
+import unittest
+import numpy as np
+from unittest import mock
+from numpy.testing import assert_array_almost_equal
+from datetime import datetime as dt, timezone, timedelta
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.mapd.lib.WayRelation import WayRelation, is_osm_time_condition_active, \
+  conditional_speed_limit_for_osm_tag_limit_string, speed_limit_for_osm_tag_limit_string
+from openpilot.selfdrive.mapd.config import LANE_WIDTH
+from openpilot.selfdrive.mapd.lib.geo import DIRECTION, R, vectors
+from openpilot.selfdrive.mapd.test.mock_data import mockOSMWay_01_01_LongCurvy, mockOSMWay_01_02_Loop, \
+  mockOSMWay_02_01_CurvyTownWithIntersections
+
+
+class TestWayRelationFileFunctions(unittest.TestCase):
+  def test_speed_limit_for_osm_tag_limit_string(self):
+    values = [
+      None,  # Invalid
+      "1000",  # Invalid
+      "60 kph",  # Invalid
+      "100",
+      "30 mph",
+      "DE:zone:40",
+      "DE:zone:50 mph",
+      "AR:urban",
+      "CZ:pedestrian_zone",
+      "DK:urban",
+      "DK:rural",
+      "DK:motorway",
+      "DE:living_street",
+      "DE:residential",
+      "DE:urban",
+      "DE:rural",
+      "DE:trunk",  # No limit
+      "DE:motorway",  # No limit
+      "GB:nsl_restricted",
+      "GB:nsl_single",
+      "GB:nsl_dual",
+      "GB:motorway",
+      "GB:invalid",  # Invalid
+    ]
+
+    expected = [
+      0.,
+      0.,
+      0.,
+      100. * CV.KPH_TO_MS,
+      30. * CV.MPH_TO_MS,
+      40. * CV.KPH_TO_MS,
+      50. * CV.MPH_TO_MS,
+      40. * CV.KPH_TO_MS,
+      20. * CV.KPH_TO_MS,
+      50. * CV.KPH_TO_MS,
+      80. * CV.KPH_TO_MS,
+      130. * CV.KPH_TO_MS,
+      7. * CV.KPH_TO_MS,
+      30. * CV.KPH_TO_MS,
+      50. * CV.KPH_TO_MS,
+      100. * CV.KPH_TO_MS,
+      0.,
+      0.,
+      30. * CV.MPH_TO_MS,
+      60. * CV.MPH_TO_MS,
+      70. * CV.MPH_TO_MS,
+      70. * CV.MPH_TO_MS,
+      0.,
+    ]
+
+    result = [speed_limit_for_osm_tag_limit_string(sls) for sls in values]
+
+    self.assertEqual(result, expected)
+
+  @mock.patch('selfdrive.mapd.lib.WayRelation.dt')
+  def test_is_osm_time_condition_active(self, mock_dt):
+    tz = timezone(timedelta(hours=1), 'berlin')
+    wed_10_10_am = dt(2021, 9, 1, 10, 10, 0)
+    mock_dt.now.return_value = wed_10_10_am
+    mock_dt.tzinfo = tz
+    mock_dt.combine = dt.combine
+    mock_dt.strptime = dt.strptime
+
+    values = [
+      "WE",  # Invalid
+      "We",
+      "Mo",
+      "Fr",
+      "Tu-Th",
+      "10:00",  # Invalid
+      "10:00-10:30",
+      "We 10:00-10:30",
+      "SU 10:00-10:30",  # Valid, SU string not considered a day string.
+      "Sa 10:00-10:30",
+      "Tu-Th 10:00-10:30",
+    ]
+
+    expected = [
+      False,  # Invalid
+      True,
+      False,
+      False,
+      True,
+      False,  # Invalid
+      True,
+      True,
+      True,
+      False,
+      True,
+    ]
+
+    result = [is_osm_time_condition_active(cs) for cs in values]
+
+    self.assertEqual(result, expected)
+
+  @mock.patch('selfdrive.mapd.lib.WayRelation.dt')
+  def test_conditional_speed_limit_for_osm_tag_limit_string(self, mock_dt):
+    tz = timezone(timedelta(hours=1), 'berlin')
+    wed_10_10_am = dt(2021, 9, 1, 10, 10, 0)
+    mock_dt.now.return_value = wed_10_10_am
+    mock_dt.tzinfo = tz
+    mock_dt.combine = dt.combine
+    mock_dt.strptime = dt.strptime
+
+    values = [
+      None,  # Invalid
+      "Hola",  # Invalid
+      "100 @ (WE)",  # Invalid
+      "x @ (We)",  # Invalid
+      "100 @ (We)",
+      "100 @ (Mo)",
+      "100 @ (Fr)",
+      "100 @ (Tu-Th)",
+      "100 @ (10:00)",  # Invalid
+      "100 @ (10:00-10:30)",
+      "100 @ (We 10:00-10:30)",
+      "100 @ (SU 10:00-10:30)",  # Valid, SU string not considered a day string.
+      "100 @ (Sa 10:00-10:30)",
+      "100 @ (Tu-Th 10:00-10:30)",
+      "100 @ (Mo-Th;Su)",
+      "100 @ (Mo Th;Fr-Sa)",
+      "100 @ (Fr-Su;Mo-Tu)",
+      "100 @ (10:00-10:30;15:00-16:00)",
+      "100 @ (We;Mo-Tu)",
+      "100 @ (We 10:00-10:30;Th 15:00-16:00)",
+      "100 @ (Tu 10:00-10:30;Th 15:00-16:00)",
+    ]
+
+    _100 = 100. * CV.KPH_TO_MS
+
+    expected = [
+      0.,  # Invalid
+      0.,  # Invalid
+      0.,  # Invalid
+      0.,  # Invalid
+      _100,
+      0.,
+      0.,
+      _100,
+      0.,  # Invalid
+      _100,
+      _100,
+      _100,
+      0.,
+      _100,
+      _100,
+      _100,
+      0.,
+      _100,
+      _100,
+      _100,
+      0.
+    ]
+
+    result = [conditional_speed_limit_for_osm_tag_limit_string(ls) for ls in values]
+
+    self.assertEqual(result, expected)
+
+
+class TestWayRelation(unittest.TestCase):
+  def test_way_relation_init(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+
+    nodes_np_expected = np.radians(np.array([[node.lat, node.lon] for node in wayRelation.way.nodes], dtype=float))
+    v = vectors(wayRelation._nodes_np)
+    way_distances_expected = np.linalg.norm(v * R, axis=1)
+    way_bearings_expected = np.arctan2(v[:, 0], v[:, 1])
+    bbox_expected = np.array([
+      [0.91321784, 0.2346417],
+      [0.91344672, 0.23475751]])
+
+    self.assertEqual(wayRelation.way.id, 179532213)
+    self.assertIsNone(wayRelation.parent_wr_id)
+    self.assertEqual(wayRelation.direction, DIRECTION.NONE)
+    self.assertEqual(wayRelation._speed_limit, None)
+    self.assertEqual(wayRelation._one_way, 'yes')
+    self.assertEqual(wayRelation.name, None)
+    self.assertEqual(wayRelation.ref, 'B 96')
+    self.assertEqual(wayRelation.highway_type, 'trunk')
+    self.assertEqual(wayRelation.highway_rank, 10)
+    self.assertEqual(wayRelation.lanes, 2)
+    assert_array_almost_equal(wayRelation._nodes_np, nodes_np_expected)
+    assert_array_almost_equal(wayRelation._way_distances, way_distances_expected)
+    assert_array_almost_equal(wayRelation._way_bearings, way_bearings_expected)
+    assert_array_almost_equal(wayRelation.bbox, bbox_expected)
+    self.assertEqual(wayRelation.edge_nodes_ids, [wayRelation.way.nodes[0].id, wayRelation.way.nodes[-1].id])
+
+  def test_way_relation_init_with_parent(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy, parent=WayRelation(mockOSMWay_01_02_Loop))
+
+    self.assertEqual(wayRelation.way.id, 179532213)
+    self.assertEqual(wayRelation.parent_wr_id, 29233907)
+
+  def test_way_relation_equality(self):
+    wayRelation1 = WayRelation(mockOSMWay_01_01_LongCurvy)
+    wayRelation2 = copy.copy(wayRelation1)
+    wayRelation3 = copy.deepcopy(wayRelation1)
+    wayRelation3.way.id = 123
+
+    self.assertEqual(wayRelation1, wayRelation2)
+    self.assertNotEqual(wayRelation1, wayRelation3)
+
+  def test_way_relation_reset_location_variables(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    self.make_wayRelation_location_dirty(wayRelation)
+
+    wayRelation.reset_location_variables()
+
+    self.assert_wayRelation_variables_reset(wayRelation)
+
+  def test_way_relation_id(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+
+    self.assertEqual(wayRelation.wr_id, 179532213)
+
+  def test_way_relation_road_name(self):
+    # road name when no tag for name or ref
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+    self.assertIsNone(wayRelation.road_name)
+    # road name based on ref tag
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    self.assertEqual(wayRelation.road_name, "B 96")
+    # road name based on name tag
+    wayRelation = WayRelation(mockOSMWay_02_01_CurvyTownWithIntersections)
+    self.assertEqual(wayRelation.road_name, "Hauptstraße")
+
+  def test_way_relation_update_resets_on_update(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    self.make_wayRelation_location_dirty(wayRelation)
+    location_rad = np.array([0., 0.])  # Location outside bbox
+
+    wayRelation.update(location_rad, 0., 10.)
+
+    self.assertFalse(wayRelation.is_location_in_bbox(location_rad))
+    self.assert_wayRelation_variables_reset(wayRelation)
+
+  def test_way_relation_update_only_resets_if_no_possible_found(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    location_rad = wayRelation.bbox[0]  # Location inside bbox but outside actual way (due to padding)
+
+    wayRelation.update(location_rad, 0., 10.)
+
+    self.assertTrue(wayRelation.is_location_in_bbox(location_rad))
+    self.assert_wayRelation_variables_reset(wayRelation)
+
+  def test_way_relation_updates_in_the_correct_direction_with_correct_property_values(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    location_rad = np.radians(np.array([52.32855593146639, 13.445320150125069]))
+    bearing_rad = 0.
+
+    wayRelation.update(location_rad, bearing_rad, 10.)
+
+    self.assertTrue(wayRelation.is_location_in_bbox(location_rad))
+    self.assertEqual(wayRelation.direction, DIRECTION.FORWARD)
+    self.assertEqual(wayRelation.ahead_idx, 17)
+    self.assertEqual(wayRelation.behind_idx, 16)
+    self.assertAlmostEqual(wayRelation._distance_to_way, 3.43290781621360)
+    self.assertAlmostEqual(wayRelation._active_bearing_delta, 0.320717420388962)
+    self.assertAlmostEqual(wayRelation.distance_to_node_ahead, 25.4998961709014)
+    self.assertTrue(wayRelation.active)
+    self.assertFalse(wayRelation.diverting)
+    assert_array_almost_equal(wayRelation.location_rad, location_rad)
+    self.assertEqual(wayRelation.bearing_rad, bearing_rad)
+    self.assertIsNone(wayRelation._speed_limit)
+
+    bearing_rad = 180.
+
+    wayRelation.update(location_rad, bearing_rad, 10.)
+
+    self.assertTrue(wayRelation.is_location_in_bbox(location_rad))
+    self.assertEqual(wayRelation.direction, DIRECTION.BACKWARD)
+    self.assertEqual(wayRelation.ahead_idx, 16)
+    self.assertEqual(wayRelation.behind_idx, 17)
+    self.assertAlmostEqual(wayRelation._distance_to_way, 3.43290781621360)
+    self.assertAlmostEqual(wayRelation._active_bearing_delta, 0.9507682562504284)
+    self.assertAlmostEqual(wayRelation.distance_to_node_ahead, 11.11623371145368)
+    self.assertTrue(wayRelation.active)
+    self.assertFalse(wayRelation.diverting)
+    assert_array_almost_equal(wayRelation.location_rad, location_rad)
+    self.assertEqual(wayRelation.bearing_rad, bearing_rad)
+    self.assertIsNone(wayRelation._speed_limit)
+
+  def test_way_relation_updates_with_location_closest_to_way_when_multiple_possible(self):
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+    location_rad = np.radians(np.array([52.313303275461564, 13.437729236325788]))
+    bearing_rad = np.radians(10.)
+
+    wayRelation.update(location_rad, bearing_rad, 10.)
+
+    self.assertTrue(wayRelation.is_location_in_bbox(location_rad))
+    self.assertEqual(wayRelation.direction, DIRECTION.BACKWARD)
+    self.assertEqual(wayRelation.ahead_idx, 26)
+    self.assertEqual(wayRelation.behind_idx, 27)
+    self.assertAlmostEqual(wayRelation._distance_to_way, 10.151775235257011)
+    self.assertAlmostEqual(wayRelation._active_bearing_delta, 0.06371131069242782)
+    self.assertAlmostEqual(wayRelation.distance_to_node_ahead, 10.174073707120915)
+    self.assertTrue(wayRelation.active)
+    self.assertFalse(wayRelation.diverting)
+    assert_array_almost_equal(wayRelation.location_rad, location_rad)
+    self.assertEqual(wayRelation.bearing_rad, bearing_rad)
+    self.assertIsNone(wayRelation._speed_limit)
+
+  def test_way_relation_updates_will_become_inactive_if_too_far_from_way(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    # Location is 24.9 mts away from the way. There are 2 Lanes in this way.
+    location_rad = np.radians(np.array([52.328634560607746, 13.445609877522788]))
+    location_stdev = 5.5  # threshold is 4 * location_stdev + LANE_WIDTH
+    distance_threshold = 4. * location_stdev + wayRelation.lanes * LANE_WIDTH / 2.
+
+    wayRelation.update(location_rad, 0., location_stdev)
+    self.assertTrue(wayRelation.active)
+    self.assertLess(wayRelation._distance_to_way, distance_threshold)
+
+    location_stdev = 5.
+
+    wayRelation.update(location_rad, 0., location_stdev)
+    self.assertFalse(wayRelation.active)
+
+  def test_way_relation_updates_will_update_diverting_correctly(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    # Location is 24.9 mts away from the way. There are 2 Lanes in this way.
+    location_rad = np.radians(np.array([52.328634560607746, 13.445609877522788]))
+    location_stdev = 11.
+    distance_threshold = 2. * location_stdev + wayRelation.lanes * LANE_WIDTH / 2.
+
+    wayRelation.update(location_rad, 0., location_stdev)
+
+    self.assertLess(wayRelation._distance_to_way, distance_threshold)
+    self.assertFalse(wayRelation.diverting)
+
+    location_stdev = 10.
+    distance_threshold = 2. * location_stdev + wayRelation.lanes * LANE_WIDTH / 2.
+
+    wayRelation.update(location_rad, 0., location_stdev)
+
+    self.assertGreater(wayRelation._distance_to_way, distance_threshold)
+    self.assertTrue(wayRelation.diverting)
+
+  def test_way_relation_update_direction_from_starting_node_resets_speed_limit(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    wayRelation._speed_limit = 10.
+
+    wayRelation.update_direction_from_starting_node(wayRelation.way.nodes[0].id)
+
+    self.assertIsNone(wayRelation._speed_limit)
+
+  def test_way_relation_update_direction_from_starting_node_updates_correctly(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    wayRelation.update_direction_from_starting_node(wayRelation.way.nodes[0].id)
+    self.assertEqual(wayRelation.direction, DIRECTION.FORWARD)
+
+    wayRelation.update_direction_from_starting_node(wayRelation.way.nodes[-1].id)
+    self.assertEqual(wayRelation.direction, DIRECTION.BACKWARD)
+
+    wayRelation.update_direction_from_starting_node(0)
+    self.assertEqual(wayRelation.direction, DIRECTION.NONE)
+
+  def test_way_relation_is_location_in_bbox(self):
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+    bbox = wayRelation.bbox
+
+    loc_avg = np.average(bbox, axis=0)
+    loc_min = np.min(bbox, axis=0)
+    loc_max = np.max(bbox, axis=0)
+
+    locations = [
+      loc_avg,
+      loc_min,
+      loc_max,
+      [loc_avg[0], loc_min[1]],
+      [loc_avg[0], loc_max[1]],
+      [loc_min[0], loc_avg[1]],
+      [loc_max[0], loc_avg[1]],
+      loc_min - 0.1,
+      loc_max + 0.1,
+      [loc_avg[0], loc_min[1] - 0.1],
+      [loc_avg[0], loc_max[1] + 0.1],
+      [loc_min[0] - 0.1, loc_avg[1]],
+      [loc_max[0] + 0.1, loc_avg[1]],
+    ]
+
+    is_in = [wayRelation.is_location_in_bbox(loc) for loc in locations]
+
+    self.assertEqual(is_in, [True, True, True, True, True, True, True, False, False, False, False, False, False])
+
+  def test_way_relation_speed_limit_when_set(self):
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+    wayRelation._speed_limit = 10.
+
+    self.assertEqual(wayRelation.speed_limit, 10.)
+
+  @mock.patch('selfdrive.mapd.lib.WayRelation.dt')
+  def test_way_relation_speed_limit_conditional(self, mock_dt):
+    tz = timezone(timedelta(hours=1), 'berlin')
+    wed_10_10_am = dt(2021, 9, 1, 10, 10, 0)
+    mock_dt.now.return_value = wed_10_10_am
+    mock_dt.tzinfo = tz
+    mock_dt.combine = dt.combine
+    mock_dt.strptime = dt.strptime
+
+    # Reset all tags before teting
+    mockOSMWay_01_02_Loop.tags = {}
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+
+    # No Value
+    self.assertEqual(wayRelation.speed_limit, 0.)
+
+    # Value on both directions
+    wayRelation._speed_limit = None
+    wayRelation.way.tags["maxspeed:conditional"] = "100 @ (We 10:00-10:30)"
+    self.assertEqual(wayRelation.speed_limit, 100. * CV.KPH_TO_MS)
+
+    # Value on forward
+    wayRelation.way.tags.pop("maxspeed:conditional")
+    wayRelation._speed_limit = None
+    wayRelation.direction = DIRECTION.FORWARD
+    self.assertEqual(wayRelation.speed_limit, 0.)
+
+    wayRelation._speed_limit = None
+    wayRelation.way.tags["maxspeed:forward:conditional"] = "100 @ (We 10:00-10:30)"
+    self.assertEqual(wayRelation.speed_limit, 100. * CV.KPH_TO_MS)
+
+    # Value on backward
+    wayRelation._speed_limit = None
+    wayRelation.direction = DIRECTION.BACKWARD
+    self.assertEqual(wayRelation.speed_limit, 0.)
+
+    wayRelation._speed_limit = None
+    wayRelation.way.tags["maxspeed:backward:conditional"] = "100 @ (We 10:00-10:30)"
+    self.assertEqual(wayRelation.speed_limit, 100. * CV.KPH_TO_MS)
+
+  def test_way_relation_speed_limit_maxspeed(self):
+    # Reset all tags before teting
+    mockOSMWay_01_02_Loop.tags = {}
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+
+    # No Value
+    self.assertEqual(wayRelation.speed_limit, 0.)
+
+    # Value on both directions
+    wayRelation._speed_limit = None
+    wayRelation.way.tags["maxspeed"] = "100"
+    self.assertEqual(wayRelation.speed_limit, 100. * CV.KPH_TO_MS)
+
+    # Value on forward
+    wayRelation.way.tags.pop("maxspeed")
+    wayRelation._speed_limit = None
+    wayRelation.direction = DIRECTION.FORWARD
+    self.assertEqual(wayRelation.speed_limit, 0.)
+
+    wayRelation._speed_limit = None
+    wayRelation.way.tags["maxspeed:forward"] = "100"
+    self.assertEqual(wayRelation.speed_limit, 100. * CV.KPH_TO_MS)
+
+    # Value on backward
+    wayRelation._speed_limit = None
+    wayRelation.direction = DIRECTION.BACKWARD
+    self.assertEqual(wayRelation.speed_limit, 0.)
+
+    wayRelation._speed_limit = None
+    wayRelation.way.tags["maxspeed:backward"] = "100"
+    self.assertEqual(wayRelation.speed_limit, 100. * CV.KPH_TO_MS)
+
+  def test_way_relation_active_bearing_delta_reflects_internal_value(self):
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+    wayRelation._active_bearing_delta = 10.
+    self.assertEqual(wayRelation.active_bearing_delta, 10.)
+
+  def test_way_relation_is_one_way(self):
+    # Setup initial tags
+    mockOSMWay_01_02_Loop.tags = {
+      'oneway': 'yes',
+      'highway': 'unclassified'
+    }
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+
+    # oneway = yes
+    self.assertTrue(wayRelation.is_one_way)
+
+    # oneway non existing
+    wayRelation._one_way = None
+    self.assertFalse(wayRelation.is_one_way)
+
+    # highway = motorway
+    wayRelation.highway_type = 'motorway'
+    self.assertTrue(wayRelation.is_one_way)
+
+  def test_way_relation_is_prohibited(self):
+    # Setup initial tags
+    mockOSMWay_01_02_Loop.tags = {
+      'oneway': 'yes'
+    }
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+
+    # Direction undefined
+    wayRelation.direction = DIRECTION.NONE
+    self.assertTrue(wayRelation.is_prohibited)
+
+    # oneway = yes
+    wayRelation.direction = DIRECTION.BACKWARD
+    self.assertTrue(wayRelation.is_prohibited)
+
+    wayRelation.direction = DIRECTION.FORWARD
+    self.assertFalse(wayRelation.is_prohibited)
+
+    # oneway non existing
+    wayRelation._one_way = None
+    self.assertFalse(wayRelation.is_one_way)
+
+    wayRelation.direction = DIRECTION.BACKWARD
+    self.assertFalse(wayRelation.is_prohibited)
+
+  def test_way_relation_distance_to_way_reflects_internal_value(self):
+    wayRelation = WayRelation(mockOSMWay_01_02_Loop)
+    wayRelation._distance_to_way = 10.
+    self.assertEqual(wayRelation.distance_to_way, 10.)
+
+  def test_way_relation_node_ahead(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    # ahead_ids is None on init
+    self.assertIsNone(wayRelation.node_ahead)
+
+    wayRelation.ahead_idx = 15
+    self.assertEqual(wayRelation.node_ahead, wayRelation.way.nodes[15])
+
+  def test_way_relation_last_node(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    # direction is NONE on init
+    self.assertIsNone(wayRelation.last_node)
+
+    # forward
+    wayRelation.direction = DIRECTION.FORWARD
+    self.assertEqual(wayRelation.last_node, wayRelation.way.nodes[-1])
+
+    # backward
+    wayRelation.direction = DIRECTION.BACKWARD
+    self.assertEqual(wayRelation.last_node, wayRelation.way.nodes[0])
+
+  def test_way_relation_last_node_coordinates(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    # direction is NONE on init
+    self.assertIsNone(wayRelation.last_node_coordinates)
+
+    # forward
+    wayRelation.direction = DIRECTION.FORWARD
+    coords = np.radians(np.array([wayRelation.way.nodes[-1].lat, wayRelation.way.nodes[-1].lon], dtype=float))
+    assert_array_almost_equal(wayRelation.last_node_coordinates, coords)
+
+    # backward
+    wayRelation.direction = DIRECTION.BACKWARD
+    coords = np.radians(np.array([wayRelation.way.nodes[0].lat, wayRelation.way.nodes[0].lon], dtype=float))
+    assert_array_almost_equal(wayRelation.last_node_coordinates, coords)
+
+  def test_way_relation_node_before_edge_coordinates(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+
+    coords = wayRelation.node_before_edge_coordinates(0)
+    assert_array_almost_equal(coords, np.array([0., 0.]))
+
+    coords = wayRelation.node_before_edge_coordinates(wayRelation.way.nodes[0].id)
+    coords_e = np.radians(np.array([wayRelation.way.nodes[1].lat, wayRelation.way.nodes[1].lon], dtype=float))
+    assert_array_almost_equal(coords, coords_e)
+
+    coords = wayRelation.node_before_edge_coordinates(wayRelation.way.nodes[-1].id)
+    coords_e = np.radians(np.array([wayRelation.way.nodes[-2].lat, wayRelation.way.nodes[-2].lon], dtype=float))
+    assert_array_almost_equal(coords, coords_e)
+
+  def test_way_relation_split_no_matching_node(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+
+    wrs = wayRelation.split(0)
+    self.assertEqual(len(wrs), 0)
+
+  def test_way_relation_split_use_correct_ids(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+
+    wrs = wayRelation.split(wayRelation._nodes_ids[5], [-100, -200])
+    self.assertEqual(wrs[0].wr_id, -100)
+    self.assertEqual(wrs[1].wr_id, -200)
+
+  def test_way_relation_split_on_edge_node(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    edge_node_ids = wayRelation.edge_nodes_ids
+
+    for edge_node_id in edge_node_ids:
+      wrs = wayRelation.split(edge_node_id)
+      self.assertEqual(len(wrs), 1)
+      self.assertEqual(wrs[0], wayRelation)
+      self.assertEqual(wrs[0].way.tags, wayRelation.way.tags)
+
+  def test_way_relation_split_on_internal_node(self):
+    wayRelation = WayRelation(mockOSMWay_01_01_LongCurvy)
+    way_ids = [-10, -20]
+
+    for idx, node_id in enumerate(wayRelation._nodes_ids):
+      if idx == 0 or idx == len(wayRelation._nodes_ids) - 1:
+        continue
+      wrs = wayRelation.split(node_id, way_ids)
+      self.assertEqual(len(wrs), 2)
+      assert_array_almost_equal(wrs[0]._nodes_ids, wayRelation._nodes_ids[:idx + 1])
+      assert_array_almost_equal(wrs[1]._nodes_ids, wayRelation._nodes_ids[idx:])
+      self.assertIn(node_id, wrs[0].edge_nodes_ids)
+      self.assertIn(node_id, wrs[1].edge_nodes_ids)
+      self.assertEqual(wrs[0].way.tags, wayRelation.way.tags)
+      self.assertEqual(wrs[1].way.tags, wayRelation.way.tags)
+      self.assertEqual(way_ids, [wr.wr_id for wr in wrs])
+
+  # Helpers
+  def make_wayRelation_location_dirty(self, wayRelation):
+    wayRelation.distance_to_node_ahead = 10.
+    wayRelation.location_rad = 0.8
+    wayRelation.bearing_rad = 2.
+    wayRelation.active = True
+    wayRelation.diverting = True
+    wayRelation.ahead_idx = 5
+    wayRelation.behind_idx = 4
+    wayRelation._active_bearing_delta = 3.
+    wayRelation._distance_to_way = 20.
+
+  def assert_wayRelation_variables_reset(self, wayRelation):
+    self.assertEqual(wayRelation.distance_to_node_ahead, 0.)
+    self.assertIsNone(wayRelation.location_rad)
+    self.assertIsNone(wayRelation.bearing_rad)
+    self.assertFalse(wayRelation.active)
+    self.assertFalse(wayRelation.diverting)
+    self.assertIsNone(wayRelation.ahead_idx)
+    self.assertIsNone(wayRelation.behind_idx)
+    self.assertIsNone(wayRelation._active_bearing_delta)
+    self.assertIsNone(wayRelation._distance_to_way)
+
+  def wayRelation_mid_point_rad(self, wayRelation):
+    return np.average(wayRelation.bbox, axis=0)
diff --git a/selfdrive/mapd/test/test_WayRelationIndex.py b/selfdrive/mapd/test/test_WayRelationIndex.py
new file mode 100644
index 00000000000000..d25d857f2ac5e8
--- /dev/null
+++ b/selfdrive/mapd/test/test_WayRelationIndex.py
@@ -0,0 +1,74 @@
+import unittest
+from openpilot.selfdrive.mapd.lib.WayRelationIndex import WayRelationIndex
+from openpilot.selfdrive.mapd.test.mock_data import mockWayCollection01
+
+
+class TestWayRelationIndex(unittest.TestCase):
+  def test_init_and_add(self):
+    wrs = mockWayCollection01.way_relations
+    wr_index = WayRelationIndex(wrs)
+
+    # expected init logic, including add logic.
+    edge_nodes_index_dict = {}
+    full_nodes_index_dict = {}
+    for wr in wrs:
+      for node in wr.way.nodes:
+        node_id = node.id
+        full_nodes_index_dict[node_id] = full_nodes_index_dict.get(node_id, []) + [wr]
+        if node_id in wr.edge_nodes_ids:
+          edge_nodes_index_dict[node_id] = edge_nodes_index_dict.get(node_id, []) + [wr]
+
+    # assert logic delivers same result
+    self.assertDictEqual(edge_nodes_index_dict, wr_index._edge_nodes_index_dict)
+    self.assertDictEqual(full_nodes_index_dict, wr_index._full_nodes_index_dict)
+    self.assertEqual(len(wr_index._edge_nodes_index_dict), 586)
+    self.assertEqual(len(wr_index._full_nodes_index_dict), 2342)
+
+  def test_remove(self):
+    wrs = mockWayCollection01.way_relations
+    wr_index = WayRelationIndex(wrs)
+
+    wr_to_remove = wrs[0]
+    affected_full_node_ids = [nodesData.id for nodesData in wr_to_remove.way.nodes]
+    affected_edge_node_ids = wr_to_remove.edge_nodes_ids
+
+    initial_full_lists = [wr_index._full_nodes_index_dict[ndid] for ndid in affected_full_node_ids]
+    initial_edge_lists = [wr_index._edge_nodes_index_dict[ndid] for ndid in affected_edge_node_ids]
+
+    expected_final_full_lists = [[wr for wr in li if wr is not wr_to_remove] for li in initial_full_lists]
+    expected_final_edge_lists = [[wr for wr in li if wr is not wr_to_remove] for li in initial_edge_lists]
+
+    wr_index.remove(wr_to_remove)
+
+    final_full_lists = [wr_index._full_nodes_index_dict[ndid] for ndid in affected_full_node_ids]
+    final_edge_lists = [wr_index._edge_nodes_index_dict[ndid] for ndid in affected_edge_node_ids]
+
+    for idx, li in enumerate(final_full_lists):
+      self.assertListEqual(li, expected_final_full_lists[idx])
+
+    for idx, li in enumerate(final_edge_lists):
+      self.assertListEqual(li, expected_final_edge_lists[idx])
+
+  def test_way_relations_with_edge_node_id(self):
+    wr_index = WayRelationIndex([])
+    ref_dict = {
+      0: ["fake_wr1", "fake_wr2"],
+      1: ["fake_wr3"],
+      3: ["fake_wr4", "fake_wr5", "fake_wr6"],
+    }
+    wr_index._edge_nodes_index_dict = ref_dict
+
+    for key, li in ref_dict.items():
+      self.assertListEqual(li, wr_index.way_relations_with_edge_node_id(key))
+
+  def test_way_relations_with_node_id(self):
+    wr_index = WayRelationIndex([])
+    ref_dict = {
+      0: ["fake_wr1", "fake_wr2"],
+      1: ["fake_wr3"],
+      3: ["fake_wr4", "fake_wr5", "fake_wr6"],
+    }
+    wr_index._full_nodes_index_dict = ref_dict
+
+    for key, li in ref_dict.items():
+      self.assertListEqual(li, wr_index.way_relations_with_node_id(key))
diff --git a/selfdrive/mapd/test/test_geo.py b/selfdrive/mapd/test/test_geo.py
new file mode 100644
index 00000000000000..01f802b142bc0d
--- /dev/null
+++ b/selfdrive/mapd/test/test_geo.py
@@ -0,0 +1,234 @@
+import unittest
+from openpilot.selfdrive.mapd.lib.geo import vectors, ref_vectors, bearing_to_points, distance_to_points
+import numpy as np
+from numpy.testing import assert_array_almost_equal
+from openpilot.selfdrive.mapd.test.mock_data import mockNodesData01
+
+
+class TestMapsdGeoLibrary(unittest.TestCase):
+  def test_vectors(self):
+    points = mockNodesData01.radians
+    expected = np.array([
+      [-1.34011951e-05, 1.00776468e-05],
+      [-5.83610920e-06, 4.41046897e-06],
+      [-7.83348567e-06, 5.94114032e-06],
+      [-7.08560788e-06, 5.30408795e-06],
+      [-6.57632550e-06, 4.05791838e-06],
+      [-1.16077872e-06, 6.91151252e-07],
+      [-1.53178098e-05, 9.62215139e-06],
+      [-5.76314175e-06, 3.55176643e-06],
+      [-1.61124141e-05, 9.86127759e-06],
+      [-1.48006628e-05, 8.58192512e-06],
+      [-1.72237209e-06, 1.60570482e-06],
+      [-8.68985228e-06, 9.22062311e-06],
+      [-1.42922812e-06, 1.51494711e-06],
+      [-3.39761486e-06, 2.57087743e-06],
+      [-2.75467373e-06, 1.28631255e-06],
+      [-1.57501989e-05, 5.72309451e-06],
+      [-2.52143954e-06, 1.34565295e-06],
+      [-1.65278643e-06, 1.28630942e-06],
+      [-2.22196114e-05, 1.64360838e-05],
+      [-5.88675934e-06, 4.08234746e-06],
+      [-1.83673390e-06, 1.46782408e-06],
+      [-1.55004206e-06, 1.51843800e-06],
+      [-1.20451533e-06, 2.06298011e-06],
+      [-1.91801338e-06, 4.64083285e-06],
+      [-2.38653483e-06, 5.60076524e-06],
+      [-1.65269781e-06, 5.78402290e-06],
+      [-3.66908309e-07, 2.75412965e-06],
+      [0.00000000e+00, 1.92858882e-06],
+      [9.09242615e-08, 2.66162711e-06],
+      [3.14490354e-07, 1.53065382e-06],
+      [8.66452477e-08, 4.83456208e-07],
+      [2.41750593e-07, 1.10828411e-06],
+      [7.43745228e-06, 1.27618831e-05],
+      [5.59968054e-06, 9.63947367e-06],
+      [2.01951467e-06, 2.75413219e-06],
+      [4.59952643e-07, 6.42281301e-07],
+      [1.74353749e-06, 1.74533121e-06],
+      [2.57144338e-06, 2.11185266e-06],
+      [1.46893187e-05, 1.11999169e-05],
+      [3.84659229e-05, 2.85527952e-05],
+      [2.71627936e-05, 1.98727946e-05],
+      [8.44632540e-06, 6.15058628e-06],
+      [2.29420323e-06, 1.92859222e-06],
+      [2.58083439e-06, 3.16952222e-06],
+      [3.76373643e-06, 5.14174911e-06],
+      [5.32416098e-06, 6.51707770e-06],
+      [8.62890928e-06, 1.11998258e-05],
+      [1.25762497e-05, 1.65231340e-05],
+      [8.90452991e-06, 1.10148240e-05],
+      [4.86505726e-06, 4.59023120e-06],
+      [3.85545276e-06, 3.39642031e-06],
+      [3.48753893e-06, 3.30566145e-06],
+      [2.99557303e-06, 2.61276368e-06],
+      [2.15496788e-06, 1.87797727e-06],
+      [4.10564937e-06, 3.58142649e-06],
+      [1.53680853e-06, 1.33866906e-06],
+      [4.99540175e-06, 4.35635790e-06],
+      [1.37744970e-06, 1.19380643e-06],
+      [1.74319821e-06, 1.28456429e-06],
+      [9.99931238e-07, 1.14493663e-06],
+      [6.42735560e-07, 1.19380547e-06],
+      [3.66818436e-07, 1.46782199e-06],
+      [5.45413874e-08, 1.83783170e-06],
+      [-1.35818548e-07, 1.14842666e-06],
+      [-5.50758101e-07, 3.02989178e-06],
+      [-4.58785270e-07, 2.66162724e-06],
+      [-2.51315555e-07, 1.19031459e-06],
+      [-3.91409773e-07, 1.65457223e-06],
+      [-2.14525206e-06, 5.67755902e-06],
+      [-4.24558096e-07, 1.39102753e-06],
+      [-1.46936730e-06, 5.32325561e-06],
+      [-1.37632061e-06, 4.59021715e-06],
+      [-8.26642899e-07, 4.68097349e-06],
+      [-6.42702724e-07, 4.95673534e-06],
+      [-3.66796960e-07, 7.25009780e-06],
+      [-1.82861669e-07, 8.99542699e-06],
+      [4.09564134e-07, 6.11214315e-06],
+      [7.80629912e-08, 1.45734993e-06],
+      [4.81205526e-07, 7.56076647e-06],
+      [2.01036346e-07, 2.42775302e-06]])
+
+    v = vectors(points)
+    assert_array_almost_equal(v, expected)
+
+  def test_ref_vectors(self):
+    points = mockNodesData01.radians
+    expected = np.array([
+      [1.59924145e-04, -1.07153714e-04],
+      [1.46520873e-04, -9.70788297e-05],
+      [1.40683931e-04, -9.26694631e-05],
+      [1.32849368e-04, -8.67297434e-05],
+      [1.25762852e-04, -8.14268689e-05],
+      [1.19185869e-04, -7.73700167e-05],
+      [1.18024984e-04, -7.66790438e-05],
+      [1.02705711e-04, -6.70592230e-05],
+      [9.69420991e-05, -6.35082196e-05],
+      [8.08284530e-05, -5.36489556e-05],
+      [6.60268961e-05, -4.50685727e-05],
+      [6.43043874e-05, -4.34630144e-05],
+      [5.56137708e-05, -3.42431117e-05],
+      [5.41844341e-05, -3.27282671e-05],
+      [5.07866397e-05, -3.01576270e-05],
+      [4.80318817e-05, -2.88714948e-05],
+      [3.22813286e-05, -2.31493755e-05],
+      [2.97598330e-05, -2.18038275e-05],
+      [2.81069973e-05, -2.05175815e-05],
+      [5.88679032e-06, -4.08230278e-06],
+      [0.00000000e+00, 0.00000000e+00],
+      [-1.83673390e-06, 1.46782408e-06],
+      [-3.38677236e-06, 2.98626574e-06],
+      [-4.59127869e-06, 5.04925111e-06],
+      [-6.50926460e-06, 9.69009532e-06],
+      [-8.89575243e-06, 1.52908806e-05],
+      [-1.05483839e-05, 2.10749224e-05],
+      [-1.09152548e-05, 2.38290571e-05],
+      [-1.09152276e-05, 2.57576459e-05],
+      [-1.08242659e-05, 2.84192717e-05],
+      [-1.05097542e-05, 2.99499212e-05],
+      [-1.04231024e-05, 3.04333762e-05],
+      [-1.01813369e-05, 3.15416571e-05],
+      [-2.74371711e-06, 4.43034426e-05],
+      [2.85599752e-06, 5.39428964e-05],
+      [4.87550206e-06, 5.66970360e-05],
+      [5.33545066e-06, 5.73393202e-05],
+      [7.07897615e-06, 5.90846634e-05],
+      [9.65040026e-06, 6.11965396e-05],
+      [2.43395796e-05, 7.23966392e-05],
+      [6.28046063e-05, 1.00950641e-04],
+      [8.99657904e-05, 1.20825635e-04],
+      [9.84114021e-05, 1.26977201e-04],
+      [1.00705361e-04, 1.28906084e-04],
+      [1.03285783e-04, 1.32075942e-04],
+      [1.07048835e-04, 1.37218192e-04],
+      [1.12372096e-04, 1.43736004e-04],
+      [1.20999382e-04, 1.54937080e-04],
+      [1.33573053e-04, 1.71462176e-04],
+      [1.42475686e-04, 1.82478533e-04],
+      [1.47339899e-04, 1.87069658e-04],
+      [1.51194707e-04, 1.90466811e-04],
+      [1.54681601e-04, 1.93773152e-04],
+      [1.57676653e-04, 1.96386513e-04],
+      [1.59831239e-04, 1.98264929e-04],
+      [1.63936150e-04, 2.01847201e-04],
+      [1.65472675e-04, 2.03186195e-04],
+      [1.70467147e-04, 2.07543619e-04],
+      [1.71844334e-04, 2.08737728e-04],
+      [1.73587247e-04, 2.10022678e-04],
+      [1.74586922e-04, 2.11167839e-04],
+      [1.75229389e-04, 2.12361789e-04],
+      [1.75595876e-04, 2.13829694e-04],
+      [1.75650001e-04, 2.15667538e-04],
+      [1.75513922e-04, 2.16815933e-04],
+      [1.74962478e-04, 2.19845700e-04],
+      [1.74503092e-04, 2.22507224e-04],
+      [1.74251509e-04, 2.23697482e-04],
+      [1.73859727e-04, 2.25351966e-04],
+      [1.71713202e-04, 2.31029044e-04],
+      [1.71288336e-04, 2.32419977e-04],
+      [1.69817793e-04, 2.37742908e-04],
+      [1.68440467e-04, 2.42332824e-04],
+      [1.67612807e-04, 2.47013617e-04],
+      [1.66969033e-04, 2.51970213e-04],
+      [1.66600674e-04, 2.59220232e-04],
+      [1.66415880e-04, 2.68215619e-04],
+      [1.66824132e-04, 2.74327850e-04],
+      [1.66901881e-04, 2.75785216e-04],
+      [1.67381459e-04, 2.83346086e-04],
+      [1.67581971e-04, 2.85773882e-04]])
+
+    v = ref_vectors(points[20], points)
+    assert_array_almost_equal(v, expected)
+
+  def test_bearing_to_points(self):
+    points = mockNodesData01.radians
+    expected = np.array([
+      2.16112265, 2.15595027, 2.15326799, 2.14916735, 2.14538642,
+      2.14657678, 2.14694997, 2.1492257, 2.1507589, 2.15676899,
+      2.16973441, 2.1651606, 2.12270237, 2.11416356, 2.10665211,
+      2.11201708, 2.19291574, 2.2031069, 2.20136186, 2.17712517,
+      0., -0.8965745, -0.84815954, -0.73792895, -0.59150953,
+      -0.5269061, -0.46406215, -0.42954043, -0.4008254, -0.36391371,
+      -0.33748609, -0.32996807, -0.31223189, -0.06185112, 0.05289544,
+      0.08578116, 0.0927833, 0.11924233, 0.15640718, 0.32432622,
+      0.55653415, 0.64003094, 0.6593301, 0.66319086, 0.66367982,
+      0.66251077, 0.66354137, 0.66302176, 0.66181884, 0.66291139,
+      0.66714676, 0.67095594, 0.67367984, 0.6765003, 0.67847961,
+      0.68212344, 0.68345356, 0.68762778, 0.68876073, 0.69070183,
+      0.69085143, 0.68988665, 0.68753177, 0.68348884, 0.68051081,
+      0.67220053, 0.66506824, 0.66177969, 0.65712162, 0.63916951,
+      0.6351146, 0.62025347, 0.60741567, 0.59618923, 0.58521935,
+      0.57122582, 0.55532475, 0.54636839, 0.54422542, 0.53357655,
+      0.53037033])
+
+    v = bearing_to_points(points[20], points)
+    assert_array_almost_equal(v, expected)
+
+  def test_distance_to_points(self):
+    points = mockNodesData01.radians
+    expected = np.array([
+      1226.82569068, 1120.13820773, 1073.61121415, 1011.10016574,
+      954.81557436, 905.58045038, 896.97734399, 781.7102819,
+      738.58271117, 618.26145463, 509.47052142, 494.6403804,
+      416.22483123, 403.42108699, 376.42615499, 357.15106681,
+      253.15957483, 235.11572972, 221.77439728, 45.65465979,
+      0., 14.98414, 28.77606056, 43.49299446,
+      74.39463425, 112.74005248, 150.19482607, 167.03665191,
+      178.28443483, 193.80834084, 202.28154097, 205.01173833,
+      211.22777104, 282.88676739, 344.25957352, 362.66370657,
+      367.00206795, 379.23951996, 394.82505328, 486.76073331,
+      757.70254732, 960.03439155, 1023.81434529, 1042.49401713,
+      1068.53770096, 1109.12696535, 1162.74555108, 1252.847351,
+      1385.17179405, 1475.42502599, 1517.57849916, 1549.79838056,
+      1580.12405964, 1605.05483058, 1622.98937809, 1657.19268821,
+      1669.99157205, 1711.63883132, 1723.09133393, 1736.47655688,
+      1746.16073119, 1754.63481838, 1763.34186103, 1772.62691273,
+      1777.76189094, 1790.62024447, 1802.11488235, 1807.1040605,
+      1813.90756815, 1834.49265566, 1840.00708445, 1861.96087374,
+      1880.81678093, 1902.42091191, 1926.37194131, 1963.78301115,
+      2011.62679077, 2046.18028824, 2054.37811294, 2097.30347724,
+      2111.28586072])
+
+    v = distance_to_points(points[20], points)
+    assert_array_almost_equal(v, expected)
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index e961e7edcff759..ef9f124848fef5 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -5,6 +5,7 @@
 #include <map>
 #include <memory>
 #include <sstream>
+#include <chrono>
 
 #include <QDebug>
 #include <QMouseEvent>
@@ -276,6 +277,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
 
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
   how_img = loadPixmap("../assets/img_hands_on_wheel.png", {img_size, img_size});
+  map_img = loadPixmap("../assets/img_world_icon.png", {subsign_img_size, subsign_img_size});
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
@@ -335,6 +337,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   vtcColor.setAlpha(lpSoruce == cereal::LongitudinalPlan::LongitudinalPlanSource::TURN ? 255 : 100);
   showDebugUI = s.scene.show_debug_ui;
 
+  const auto lmd = sm["liveMapData"].getLiveMapData();
+  const uint64_t lmd_fix_time = lmd.getLastGpsTimestamp();
+  const uint64_t current_ts = std::chrono::duration_cast<std::chrono::milliseconds>
+                              (std::chrono::system_clock::now().time_since_epoch()).count();
+  const bool show_road_name = current_ts - lmd_fix_time < 10000; // hide if fix older than 10s 
+  roadName = show_road_name ? QString::fromStdString(lmd.getCurrentRoadName()) : "";
+
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
 
@@ -445,6 +454,15 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
                                vtcColor, vtcSpeed, 100);
   }
 
+  // Bottom bar road name
+  if (showDebugUI && !roadName.isEmpty()) {
+    const int h = 60;
+    QRect bar_rc(rect().left(), rect().bottom() - h, rect().width(), h);
+    p.setBrush(QColor(0, 0, 0, 100));
+    p.drawRect(bar_rc);
+    p.setFont(InterFont(28, QFont::Bold));
+    drawCenteredText(p, bar_rc.center().x(), bar_rc.center().y(), roadName, QColor(255, 255, 255, 200));
+  }
   p.restore();
 }
 
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 594880066469a0..8bae45e48e4915 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -74,6 +74,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   Q_PROPERTY(QColor vtcColor MEMBER vtcColor);
   Q_PROPERTY(bool showDebugUI MEMBER showDebugUI);
 
+  Q_PROPERTY(QString roadName MEMBER roadName);
+
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
@@ -90,7 +92,9 @@ class AnnotatedCameraWidget : public CameraWidget {
   ExperimentalButton *experimental_btn;
   QPixmap dm_img;
   QPixmap how_img;
+  QPixmap map_img;
   float speed;
+  const int subsign_img_size = 35;
   QString speedUnit;
   float setSpeed;
   float speedLimit;
@@ -117,6 +121,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   QColor vtcColor;
   
   bool showDebugUI = false;
+  
+  QString roadName;
 
 protected:
   void paintGL() override;
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 1af819900c5e9d..886607b5606006 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -242,7 +242,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "longitudinalPlan",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "longitudinalPlan", "liveMapData",
   });
 
   Params params;