A method for autonomous vehicle map construction includes automatically capturing location data, movement data, and perception data from a vehicle that has traveled down a road, wherein the perception data includes data that identifies the location of lane edges and lane markers for the road, the location of traffic signs associated with the road, and the location of traffic signaling devices for the road. The method further includes pre-processing to associate the captured perception data with the captured location data, captured movement data, and navigation map data; determining, from the pre-processed data, lane boundary data, traffic device and sign location data, and lane level intersection data that connects the intersecting and adjoining lanes identified through the lane boundary data; and storing the lane boundary data, traffic device and sign location data, and lane level intersection data in a map file configured for use by an autonomous vehicle.