Hazard is related to Obstacle. Obstacle is related to Course. Course is related to Route. Route is related to Highway. 
Choose entails/necessarily involves Compare. Choose is a synonym of Pick. Pick is a synonym of Clean. Brush is a type of Clean. 
Hazard <--RelatedTo--> Obstacle <--RelatedTo--> Course <--RelatedTo--> Route <--RelatedTo--> Highway 
Compare <--Entails-- Choose <--Synonym--> Pick <--Synonym--> Clean <--IsA-- Brush 