A mapping system comprising: a memory comprising map data; and processing circuitry configured to: receive a plurality of probe data points, each probe data point received from a probe apparatus of a plurality of probe apparatuses, each probe apparatus comprising one or more sensors and being onboard a respective vehicle, wherein each probe data point comprises location information associated with the respective probe apparatus, and wherein a sequence of probe data points from a respective probe apparatus defines a trajectory of said respective probe apparatus; map-match trajectories of the plurality of probe apparatuses to lanes of a road segment of a road network; determine, from each trajectory of the plurality of probe apparatuses map-matched to the lanes of the road segment, an average path speed for each trajectory along each lane of the road segment; aggregate average path speeds along each lane of the road segment; for each lane, cluster the aggregated average speeds along the lane to obtain a predetermined number of speed profiles using a clustering technique, each speed profile for each respective lane being associated with a same epoch; generate a lane-level speed profile for the road segment; and provide for at least one of navigational instructions or autonomous vehicle control based on the lane-level speed profile for the road segment. a memory comprising map data; and processing circuitry configured to: receive a plurality of probe data points, each probe data point received from a probe apparatus of a plurality of probe apparatuses, each probe apparatus comprising one or more sensors and being onboard a respective vehicle, wherein each probe data point comprises location information associated with the respective probe apparatus, and wherein a sequence of probe data points from a respective probe apparatus defines a trajectory of said respective probe apparatus; map-match trajectories of the plurality of probe apparatuses to lanes of a road segment of a road network; determine, from each trajectory of the plurality of probe apparatuses map-matched to the lanes of the road segment, an average path speed for each trajectory along each lane of the road segment; aggregate average path speeds along each lane of the road segment; for each lane, cluster the aggregated average speeds along the lane to obtain a predetermined number of speed profiles using a clustering technique, each speed profile for each respective lane being associated with a same epoch; generate a lane-level speed profile for the road segment; and provide for at least one of navigational instructions or autonomous vehicle control based on the lane-level speed profile for the road segment. receive a plurality of probe data points, each probe data point received from a probe apparatus of a plurality of probe apparatuses, each probe apparatus comprising one or more sensors and being onboard a respective vehicle, wherein each probe data point comprises location information associated with the respective probe apparatus, and wherein a sequence of probe data points from a respective probe apparatus defines a trajectory of said respective probe apparatus; map-match trajectories of the plurality of probe apparatuses to lanes of a road segment of a road network; determine, from each trajectory of the plurality of probe apparatuses map-matched to the lanes of the road segment, an average path speed for each trajectory along each lane of the road segment; aggregate average path speeds along each lane of the road segment; for each lane, cluster the aggregated average speeds along the lane to obtain a predetermined number of speed profiles using a clustering technique, each speed profile for each respective lane being associated with a same epoch; generate a lane-level speed profile for the road segment; and provide for at least one of navigational instructions or autonomous vehicle control based on the lane-level speed profile for the road segment. <EOS>