The objective of this paper is electronic map system for automatic navigation vehicle ,the electronic map system provide for navigated information when vehicle is automatically navigating. To establish electronic map, we use laser rangefinder to measure object’s position on polar coordinate, put the position in local region of electronic map after convert polar coordinate into Cartesian coordinate. To extract linear geometry, we use Sine wave corresponds to find lines algorithms, the geometry are stored in the navigating resources. We get the error position and angle of vehicle by using image matching, and supply to self-propelled vehicle motion control systems.