A digital lane mark generation apparatus generates a highly accurate and inexpensive three-dimensional mathematical expression orbit map (a digital lane mark). The apparatus includes a GPS coordinate reception unit obtaining GPS coordinates (X, Y, Z), a gyro sensor calculating measurement values of a gradient (.psi., .theta., .phi.), a camera device, a distance meter measuring a driving distance measuring point (l), a speed meter measuring a speed, a steering angle sensor measuring a steering angle (.rho.), a road surface roughness sensor detecting a road surface roughness (.delta.), an IC tag information reception unit detecting IC tag position information, an internal timer, and a digital lane mark generation unit generating the digital lane mark by relating obtained information to a standard time, and by using a line segment, a circular arc, and/or a clothoid curve.