A method for planning lane level guidance for a vehicle (e.g. car, automobile) comprising accessing a final vehicle configuration, 463, (involving desired speed, destination acceleration parameters), accessing statistics / data representative of aggregate traffic patterns for each lane, 441, 442, 443, of any multi-lane road over a distance from the current vehicle configuration, 461, to the ending configuration, 463. Also included is a method for cueing a driver to change lanes, 407, comprising accessing a lane level routing plan, the plan being formulated by the aforementioned method, the lane level plan including lane changes predicted to be of benefit when travelling between the start and end configurations, detecting that the vehicle is in a configuration associated with a predicted change and indicating / prompting the user about the change. The vehicle may be an autonomous or driverless vehicle. The lane level plan may be for switching lanes to an on ramp or from an off ramp to a multi-lane highway / motorway.
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