In one embodiment, a method for collecting lane data is disclosed. The method includes collecting lane data for a lane of a plurality of lanes of a road from one or more sensors of a vehicle traveling in the lane. The method includes receiving an identifier of a lane of the plurality of lanes. The identified lane is a lane-of-interest and is different than the lane that the vehicle is traveling in. The method includes determining that the vehicle is not occupied. The method includes, in response to determining that the vehicle is not occupied, causing the vehicle to travel in the lane-of-interest. The method includes collecting lane data for the lane-of-interest from the one or more sensors.