Autonomous Vehicles (AV) can navigate itself from point `A' to point `B' without the aid of humans. Research on autonomous vehicles were primarily focused on the localization, navigation and path planning schemes. This led to numerous methods in each of the elds of focus. This research focuses on creating a scheme for the autonomous vehicle to navigate using minimal sensors and get maximum data/infor- mation from the map. At rst a digital map contains various structures and each has an associated database. This database contains the details of the environment. At present these data are manipulated for use by humans and for this map to be used with autonomous vehicle require more sensors. This work designs maps for use with autonomous vehicle and navigates using di erential GPS (dGPS) of high accuracy for localization. Then the vehicle gets path and directions from digital map and nav- igates using multiple waypoints that are provided by the path. Finally, the scheme is tested and demonstrated through simulation and test results.