Methods and system for constructing data representation for use in assisting autonomous vehicles navigate intersections

A system receives a road network map that corresponds to a road network that is in an environment of an autonomous vehicle. For each of the one or more lane segments, the system identifies one or more conflicting lane segments from the plurality of lane segments, each of which conflicts with the lane segment, and adds conflict data pertaining to a conflict between the lane segment and the one or more conflicting lane segments to a set of conflict data. The system analyzes the conflict data to identify a conflict cluster that is representative of an intersection. The system groups predecessor lane segments and the successor lane segments as inlets or outlets of the intersection, generates an outer geometric boundary of the intersection, generates an inner geometric boundary of the intersection, creates a data representation of the intersection and adds the data representation to the road network map.