A digital lane mark generation apparatus of this invention generates a highly accurate and inexpensive three-dimensional mathematical expression orbit map (a digital lane mark), including a GPS coordinate reception unit 13 obtaining GPS coordinates (X, Y, Z) of the vehicle, a gyro sensor 14 calculating measurement values of a gradient (ψ, θ, φ), a camera device 19 photographing as a camera image, a distance meter 15 measuring a driving distance measuring point (1), a speed meter 16 measuring a speed(v), a steering angle sensor 17 measuring a steering angle (ρ), a road surface roughness sensor 18 detecting a road surface roughness (δ), an IC tag information reception unit 11 detecting IC tag position information; an internal timer 12a, and a digital lane mark generation unit 12 generating a digital lane mark by relating each information to a standard time (t), and by using a line segment (S), a circular arc (R), and/or a clothoid curve (A).