A method may include, at a
control system, receiving a trip request specifying an origin boarding zone and a destination boarding zone, determining a path for the trip request, the path extending from the origin boarding zone and along at least a portion of a
trunk lane of a roadway
system, assigning the trip request to a vehicle, determining, based at least in part on a location of a parking spot where the vehicle is parked at the origin boarding zone, an estimated transit duration of the vehicle from the parking spot to an entrance to the
trunk lane, selecting, based at least in part on the estimated transit duration, a moving position-target from a set of candidate moving position-targets, and causing the vehicle to travel from the parking spot to the
trunk lane and travel along the portion of the trunk lane by following the selected moving position-target.