Exemplary embodiments of the present disclosure provide a method and apparatus for determining road information data and a computer storage medium, which may be used for autonomous driving, road information prediction, and driving route planning. The method for determining road information data includes: determining, via a precision navigation device of a vehicle, a plurality of locations of the vehicle; acquiring, via a sensor of the vehicle, a plurality of image frames of a physical environment where the vehicle is located; determining, from the plurality of locations, a target location corresponding to at least one image frame among the plurality of image frames; and determining, based on the determined target location and a map related to the physical environment, road information data corresponding to the at least one image frame. According to the solution of the present disclosure, road information annotation data may be accurately and efficiently generated.