The disclosure provides a map construction method, and the map construction method includes: periodically detecting a base world coordinate of a mobile vehicle; periodically capturing a first image of surroundings outside the mobile vehicle; periodically obtaining LiDAR data of the surroundings outside the mobile vehicle; identifying a plurality of target objects in the first image and projecting a plurality of LiDAR data points onto the first image to obtain a second image according to the LiDAR data; identifying an image coordinate of each of a plurality of projected target LiDAR data points in a selected target object; obtaining an object world coordinate of each of the target LiDAR data points according to the image coordinates, LiDAR information, and the base world coordinate; and disposing the selected target object into a high definition map according to the object world coordinates.