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A road network is a critical aspect of both urban planning and route recommendation. This article proposes an efficient approach to build a fine-grained road network based on sparsely sampled private car trajectory data under complex urban environment. In order to resolve difficulties introduced by low sampling rate trajectory data, we concentrate sample points around intersections by utilizing the turning characteristics from the large-scale trajectory data to ensure the accuracy of the detection of intersections and road segments. In front of complex road networks including many complex intersections, such as the overpasses and underpasses, we first layer intersections into major and minor one, and then propose a simplified representation of intersections and corresponding computable model based on the features of roads, which can significantly improve the accuracy of detected road networks, especially for the complex intersections. In order to construct fine-grained road networks, we distinguish various types of intersections using direction information and detected turning limit. To the best of our knowledge, our road network building method is the first time to give fine-grained road networks based on low-sampling rate private car trajectory data, especially able to infer the location of complex intersections and its connections to other intersections. Last but not the least, we propose an effective parameter selection process for the Density-Based Spatial Clustering of Applications with Noise based clustering algorithm, which is used to implement the reliable intersection detection. Extensive evaluations are conducted based on a real-world trajectory dataset from 1,345 private cars in Futian district, Shenzhen city of China. The results demonstrate the effectiveness of the proposed method. The constructed road network matches close to the one from a public editing map OpenStreetMap, especially the location of the road intersections and road segments, which achieves 92.2% intersections within 20m and 91.6% road segments within 8m.

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