A quick note regarding the two new parameters since I haven't had time to write the full description. The number of lookahead lanes determines how far ahead the path finding algorithm will search for uncongested lanes. A higher number increases the optimality of the resulting path but also has a greater impact on performance. Associated to this number is the congested lane threshold. When looking ahead down a candidate path (ie the next LL lanes, where LL is the number of lookahead lanes), if more than the specified congested lane threshold (call it CT) is encountered, the candidate path is invalidated and a new search for a better path is started. In this case, a lower number has a greater cost in performance, since new searches will be triggered more often and consequently lengthen the time taken to find a suitable path. Obviously, we must have CT <= LL (we are looking for a number of congested lanes out of a number of lookahead lanes) and the interface enforces this constraint.