A computer-implemented method for building a road model, the method comprising: building a lane line pool (S110), the lane line pool comprising one or more historical lane lines previously detected or calculated relative to a current lane line that is currently detected or calculated, wherein a lane line is used to mark or represent a lane; updating the lane line pool based on matching between the current lane line and the one or more historical lane lines in the lane line pool (S120), which comprises: when the current lane line matches one of the one or more historical lane lines, updating lane line information corresponding to the current lane line in the lane line pool; and performing lane matching on all lane lines in the updated lane line pool, so as to build the road model (S130), wherein updating lane line information corresponding to the current lane line in the lane line pool comprises: pre-estimating the one or more historical lane lines based on motion information of a host vehicle; and for a historical lane line in the lane line pool for which matching has not been completed, retaining a pre-estimated state of the historical lane line and lowering a corresponding confidence level of the historical lane line; wherein when the confidence level is higher than a second threshold, the historical lane line for which matching has not been completed is retained in the lane line pool. building a lane line pool (S110), the lane line pool comprising one or more historical lane lines previously detected or calculated relative to a current lane line that is currently detected or calculated, wherein a lane line is used to mark or represent a lane; updating the lane line pool based on matching between the current lane line and the one or more historical lane lines in the lane line pool (S120), which comprises: when the current lane line matches one of the one or more historical lane lines, updating lane line information corresponding to the current lane line in the lane line pool; and performing lane matching on all lane lines in the updated lane line pool, so as to build the road model (S130), wherein updating lane line information corresponding to the current lane line in the lane line pool comprises: pre-estimating the one or more historical lane lines based on motion information of a host vehicle; and for a historical lane line in the lane line pool for which matching has not been completed, retaining a pre-estimated state of the historical lane line and lowering a corresponding confidence level of the historical lane line; wherein when the confidence level is higher than a second threshold, the historical lane line for which matching has not been completed is retained in the lane line pool. pre-estimating the one or more historical lane lines based on motion information of a host vehicle; and for a historical lane line in the lane line pool for which matching has not been completed, retaining a pre-estimated state of the historical lane line and lowering a corresponding confidence level of the historical lane line; wherein when the confidence level is higher than a second threshold, the historical lane line for which matching has not been completed is retained in the lane line pool. <EOS>