Lane Structure Estimation

An apparatus of a vehicle with a processor. The processor is configured to generate at least one landmark within a vehicle transportation network that includes a lane. The processor generates lane cues for the lane as the vehicle travels within the vehicle transportation network. The processor aligns the lane cues. The processor generates a lane graph estimation based upon the lane cues so that the vehicle travels substantially along a center of the lane within the vehicle transportation network. The processor compares the center of the lane generated by the lane graph estimation to the at least one landmark to check a location of the center of the lane. The vehicle is at least temporarily free of communication with a global positioning satellite (GPS), a global navigation satellite system (GNSS), or both as the vehicle travels within the vehicle transportation network and generates the lane cues.