A system for generating virtual lane markers of an intersection so that the virtual lane markers are visible to an operator of a vehicle at the intersection. The system includes a remote station having a transceiver, a remote memory module configured to store map data and baseline static paths of vehicles moving through the intersection, and a remote control module configured to broadcast via the transceiver a map message indicating the baseline static paths. A vehicle transceiver is configured to receive the map message. A vehicle control module is configured to generate virtual lane markers through the intersection based on the baseline static paths included with the received map message.