Abstract: A system may receive, from a map associated with a road segment, at least one indicator of a lane of travel associated with the road segment, location information associated with the lane of travel, an identifier of a road element associated with the road segment, and location information associated with the road element; generate a graph representation of a junction associated with the road segment including a plurality of nodes and one or more semantic links; provide the graph representation to a trained model configured to infer a relationship between the road element and the lane of travel; based on the output of the trained model, store in the map road element relationship; and distribute the map for use in navigating along the road segment.