A method of creating a road network map to design a driving plan for an autonomous driving vehicle, which is performed by a computing device, the method comprising: generating road network data for an area, wherein the generating of the road network data includes: generating a first road network indicating a connection relationship between a first road located in the area and a second road connected to the first road; and generating a second road network representing a connection relationship between a plurality of first lanes included in the first road and a plurality of second lanes included in the second road using the generated first road network; generating lattice road network data for a short-term driving plan for an autonomous driving vehicle using the generated road network data, wherein the generating of the lattice road network data includes: generating one or more lattice roads using the generated road network data; generating connection information between the generated one or more lattice roads; and generating the lattice road network connecting the generated one or more lattice roads according to the generated connection information; and characterised in that the method further comprises: generating a crossable dipole graph for a long-term driving plan for the autonomous driving vehicle using the generated lattice road network data, wherein the crossable dipole graph connects one or more lanes included in a first lattice road with one or more lanes included in a second lattice road, and generating the crossable dipole graph comprises: determining whether movement is possible between one or more lanes included in the first lattice road and one or more lanes included in the second lattice road; and connecting the one or more lanes included in the first lattice road and the one or more lanes included in the second lattice road based on the determined movement possibility. generating a first road network indicating a connection relationship between a first road located in the area and a second road connected to the first road; and generating a second road network representing a connection relationship between a plurality of first lanes included in the first road and a plurality of second lanes included in the second road using the generated first road network; generating lattice road network data for a short-term driving plan for an autonomous driving vehicle using the generated road network data, wherein the generating of the lattice road network data includes: generating one or more lattice roads using the generated road network data; generating connection information between the generated one or more lattice roads; and generating the lattice road network connecting the generated one or more lattice roads according to the generated connection information; and characterised in that the method further comprises: generating a crossable dipole graph for a long-term driving plan for the autonomous driving vehicle using the generated lattice road network data, wherein the crossable dipole graph connects one or more lanes included in a first lattice road with one or more lanes included in a second lattice road, and generating the crossable dipole graph comprises: determining whether movement is possible between one or more lanes included in the first lattice road and one or more lanes included in the second lattice road; and connecting the one or more lanes included in the first lattice road and the one or more lanes included in the second lattice road based on the determined movement possibility. generating one or more lattice roads using the generated road network data; generating connection information between the generated one or more lattice roads; and generating the lattice road network connecting the generated one or more lattice roads according to the generated connection information; and characterised in that the method further comprises: generating a crossable dipole graph for a long-term driving plan for the autonomous driving vehicle using the generated lattice road network data, wherein the crossable dipole graph connects one or more lanes included in a first lattice road with one or more lanes included in a second lattice road, and generating the crossable dipole graph comprises: determining whether movement is possible between one or more lanes included in the first lattice road and one or more lanes included in the second lattice road; and connecting the one or more lanes included in the first lattice road and the one or more lanes included in the second lattice road based on the determined movement possibility. determining whether movement is possible between one or more lanes included in the first lattice road and one or more lanes included in the second lattice road; and connecting the one or more lanes included in the first lattice road and the one or more lanes included in the second lattice road based on the determined movement possibility.