Pavement Markings To Support Automated Vehicles [Research Summary]

Peterson, Ethan; Pike, Adam · 2024 · ROSA P / Minnesota. Department of Transportation. Office of Research & Innovation

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Summary

This research summary addresses the need for pavement marking designs that support the functionality of automated vehicles (AVs). While AVs rely on real-time sensors, such as cameras and radar, to maintain lane position and execute navigation features, existing pavement marking standards were primarily designed for human vision. The Minnesota Department of Transportation (MnDOT) sought to understand how specific marking characteristics—such as width, contrast, and skip patterns—affect AV lane-keeping performance to complement ongoing human factors studies. The goal was to develop infrastructure guidance that ensures AVs remain appropriately positioned on the road, thereby maximizing their safety potential. The study employed a mixed-methods approach involving literature reviews and field observations across test corridors in Minnesota and Texas during both day and night. Researchers utilized a vehicle equipped with camera-based data acquisition systems and aftermarket sensor systems to measure relative tracking performance. Specific experimental conditions included evaluating 4- and 6-inch-wide markings, varying skip line lengths (10-foot marks with 30- or 40-foot gaps), and different contrast patterns (white markings followed by black, or white with black borders) on lighter-colored pavement. Tests were conducted on closed courses at Texas A&M University and open roads near Houston and Minneapolis to assess how line width, quality, gap ratios, and line extensions across ramps influenced automated driving functions. The findings indicated that camera systems adequately detected most markings, with detection performance improving at night and with longer stripes paired with shorter gaps. Specifically, white markings followed by black contrast proved effective. However, data from four vehicle sensor systems showed no evidence that line stripe-to-gap ratios, line width, or contrast patterns significantly affected performance metrics beyond basic detection. Instead, lower-quality markings caused some loss of tracking, and the absence of dotted line extensions on turn lanes or highway ramps frequently resulted in unintended lane shifts. Based on these results, the study recommends MnDOT update its pavement marking policies to include 12.5-foot-long skip marks with 37.5-foot gaps, the use of 6-inch-wide markings, and the implementation of dotted line extensions on off-ramps and turn lanes. Additionally, maintaining marking quality and using contrast markings on low-contrast pavement are advised. These changes are designed to be cost-effective, as adjustments to skip mark ratios can be implemented during routine striping cycles without requiring pavement resurfacing. The findings will support MnDOT in optimizing infrastructure for automated driving systems as the technology advances.

Key finding

Automated vehicle camera systems demonstrated improved lane-tracking performance with longer pavement marking stripes, shorter gaps, and white-on-black contrast markings, while lower-quality markings and missing dotted line extensions caused tracking losses or unintended lane shifts.

Methodology

field_study

Provenance

The full processing record for this entry. Every stage of this paper's journey through the pipeline is logged — what ran, with which tool and model, how many attempts it took, and when it last completed. Discovered via bulk_ingest_rosap on 2026-05-23 (6 acquisition events logged).

Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.

Topics

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• signage environment