The construction of routable digital maps based on trajectory data has attracted a lot of attention, especially in recent years, with the ease and cheapness of collecting the required data. Such maps, if they are constructed at lane-level, have many applications in traffic analysis, especially the study of driving behavior based on floating car data. In this paper, we present a three-step automatic method based on QuickBundles for the node detection in the road network, a dissimilarity matrix based on Fréchet distance for road centerline construction, and the Gaussian Mixture Method for lane estimation. The results are a smooth, segment-based centerline unbiased by GPS density distribution over lanes with accurate road width as well as compatible and highly accurate estimation of lanes. The accuracy, connectivity, compatibility, validity, and robustness of the proposed method have been tested in various ways. The results of this paper show that this method, while being low cost, can construct accurate lane-level routable digital maps that can be used as a platform for extracting longitudinal and lateral driving behavior, especially drivers' lane-changing maneuvers. Due to the unique features of the proposed method, the width of the lanes remains constant along the entire length of the road segments. In addition, the validation of the method based on traffic metrics shows that the constructed maps can be used to obtain reliable estimates of the speed and volume of traffic flow in different lanes. Being derived from actual trajectories, the inferred lane markings may deviate from the physical ones if the driver population systematically deviates laterally, for instance in curves; depending on the application use case of the resulting map, this may be a desirable or undesirable feature.

基于轨迹数据的可路由数字地图的构建引起了很多关注，尤其是近年来，由于收集所需数据的方便和廉价。这样的地图，如果是在车道级别构建的，在交通分析方面有很多应用，特别是基于浮动汽车数据的驾驶行为研究。在本文中，我们提出了一种基于 QuickBundles 的三步自动方法，用于道路网络中的节点检测，基于 Fréchet 距离的相异矩阵用于道路中心线构建，以及用于车道估计的高斯混合方法。结果是一条平滑的、基于段的中心线，不受 GPS 密度分布在车道上的偏差，具有准确的道路宽度以及兼容且高度准确的车道估计。准确性、连通性、兼容性、有效性、所提出的方法的稳健性和鲁棒性已经通过各种方式进行了测试。本文的结果表明，该方法在低成本的同时，可以构建准确的车道级可路由数字地图，可用作提取纵向和横向驾驶行为，尤其是驾驶员换道操作的平台。由于所提出方法的独特之处，车道的宽度沿路段的整个长度保持不变。此外，基于交通指标的方法验证表明，构建的地图可用于获得不同车道交通流量的速度和流量的可靠估计。从实际轨迹中推导出来，如果驾驶员群体系统地横向偏离，例如在弯道中，推断的车道标记可能会偏离物理标记；