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Autonomous vehicles must possess the capability to navigate complex intersections, which do not conform to typical models. Such intersections may have multiple roadways of different classes, highly acute angles, or unique multi-modal combinations. These may include railway grade crossings, bicycle lanes, or unique signal arrangements. Conventional navigation systems, which gather data from the surrounding area then plan a path through the collected data require faultless and complex analysis of extremely unstructured environments. The vehicle must then avoid obstacles as well as successfully navigate the intersection with extremely low tolerance for error. Computer decision making challenges can arise from this method of navigation, especially when interacting with non-autonomous vehicles.