Only as a weird idea: Take several Google earth satellite vistas around the same area. Extract the 3D height model of the area by using some photogrammetry tools like Photoscan. The idea is not mine, I have heard it or seen it but no idea, where. It was 2 to 3 years ago.
To stay in the topic: As already commented a real map - even Google's, if you're lucky - have all wanted roads and buildings with consistent uniform colors that are easy to trace.
Nobody can't copyright the positions of the buildings, but the used simplified collection of shapes as a map can be copyrighted. Remember to read the disclaimer to see, how much you can copy "as is".
In every town hall should be an office that has up to date street and building maps available for reasonable fee - even as free. Those maps probably are Autocad compatible because a constant demand exists on them by buiders and those who design the future.