Abstract: A method for representing shapes of road segments is disclosed. The shape of a portion of road that spans at least one intersection is represented using a single continuous non-uniform B-spline. The single continuous non-uniform B-spline is divided into separate sections by knot insertion at each position corresponding to the location of a spanned intersection. The separate sections of the single continuous non-uniform B-spline are each re-parameterized into multiple separate continuous non-uniform B-splines. Then, data indicating each of the separate non-uniform B-splines is used to represent each of the corresponding road segments in the portion of road.