If you look at this bad quality picture, you can see there are 3 lanes, blue lane represent autopilot navigated route, the gray lane on the side(right) shows initial planning route but there were cars and autopilot had to overtake it, and then the third lane (merge to the right lane) represent path planning by autopilot to merge into the right lane once it starts the turn that line will change to blue. I need to make a better picture during the day