1. A computer-implemented method comprising: receiving, from one or more sensors associated with a first vehicle on a road segment, road scene data; receiving situation ontology data; detecting one or more static road objects based on the road scene data; detecting one or more dynamic road objects based on the road scene data; determining one or more lanes of the road segment based on the one or more detected static road objects; spatially and temporally monitoring movement and lane position of the one or more dynamic road objects; generating lane-level activity information for each lane based on the monitored movement and the monitored lane position of the one or more dynamic road objects; automatically generating a semantic road scene description of the road segment using the situation ontology data, the semantic road scene description including the lane-level activity information for each lane; and transmitting, via a communication network, the semantic road scene description to one or more other vehicles associated with the road segment.