Road Markings for Machine Vision

NCHRP Project 20-102(6)

AASHTO SCOTE

Pittsburgh, PA

June 2017

Objectives

• develop minimum performance levels for pavement markings so that they can be maintained to provide reliable machine vision detection for ADAS such as LDW and LKA

• provide data and recommendations that an AASHTO/SAE Working Group can use to quickly develop guidelines and criteria

Texas A&M RELLIS Campus

Testing Conditions

• 4-inch edge lines and lane lines

– Daytime

• Dry, wet recovery

– Nighttime

• Dry, wet recovery

• With and without

continuous roadway

lighting

Data Collection Setup

LIDAR

CameraSystem

Data Visualization

1 NB White 2.50 3.00 2.00 2.17 2.00 2.42 2.00 2.20 2.00 2.50 2.33 2.67 2.30 2.40 2.29 2.86 2.29 3.00

1 SB White 2.17 2.33 1.83 2.17 0.67 0.83 2.00 3.00 0.00 0.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

1 NB Yellow 0.00 0.00 0.67 0.67 0.00 0.33 0.00 0.67 0.00 0.67 0.67 0.33 0.22 0.11 2.00 2.00

1 SB Yellow 2.00 2.00 2.00 2.17 1.33 2.00 1.33 2.00 1.33 2.00 1.00 1.00 1.00 1.00 2.00 2.00

2 NB White 2.67 3.00 3.00 3.00 2.39 2.61 2.20 2.40 2.38 2.63 2.33 2.67 2.90 3.00 2.86 3.00 3.00 3.00

2 SB White 2.75 2.75 2.33 2.50 1.50 1.33 1.50 1.33 1.50 1.33 3.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

2 NB Yellow 2.40 3.00 2.17 2.83 2.33 2.67 2.60 2.80 2.50 3.00 2.67 3.00 2.67 2.89 2.57 2.71 2.86 2.86

2 SB Yellow 2.40 2.60 2.33 2.33 2.00 2.43 2.00 3.00 2.00 2.00 3.00 3.00 2.67 3.00 3.00 3.00 3.00 3.00

3 NB White 2.83 3.00 2.50 3.00 2.47 2.76 2.40 2.60 2.50 2.50 3.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

3 SB White 2.67 2.67 2.17 2.33 1.14 1.86 2.00 3.00 0.00 2.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

3 NB Yellow 2.60 3.00 2.17 3.00 2.18 2.35 2.00 2.00 2.00 2.50 3.00 3.00 2.89 2.89 2.67 3.00 3.00 3.00

3 SB Yellow 2.00 2.60 2.00 2.33 2.29 2.57 2.00 3.00 2.20 2.80 3.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

4 NB White 2.67 3.00 2.33 2.67 2.40 2.60 2.00 2.20 2.50 2.50 3.00 3.00 2.90 3.00 3.00 3.00 2.80 3.00

4 SB White 2.17 2.50 2.00 2.17 1.00 1.00 2.00 2.00 0.00 0.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

4 NB Yellow 2.60 2.80 2.67 2.67 2.47 2.67 2.80 2.80 2.50 3.00 2.67 3.00 3.00 3.00 2.80 2.80 3.00 3.00

4 SB Yellow 2.40 2.40 2.17 2.17 2.25 2.13 2.00 2.00 2.20 2.00 2.67 3.00 2.67 3.00 2.00 2.50 3.00 3.00

5 NB White 2.75 3.00 2.67 2.83 2.50 2.50 2.33 2.33 2.33 2.33 3.00 3.00 3.00 3.00 3.00 3.00

5 SB White 2.75 2.75 2.33 2.50 1.50 1.33 1.50 1.33 1.50 1.33 3.00 3.00 3.00 3.00 3.00 3.00

5 NB Yellow 2.40 2.80 2.17 2.67 2.46 2.54 2.40 2.40 2.50 2.67 3.00 3.00 3.00 3.00 2.50 3.00 3.00 3.00

5 SB Yellow 2.20 2.20 2.00 2.00 2.11 2.44 2.00 2.00 2.00 2.40 3.00 3.00 3.00 3.00 2.50 3.00 3.00 3.00

6 NB White 2.50 3.00 2.17 2.83 2.40 2.70 2.25 2.25 2.50 3.00 3.00 3.00 2.90 3.00 3.00 3.00 2.50 3.00

6 SB White 2.67 2.83 2.83 3.00 1.56 1.56 2.00 3.00 2.20 2.20 2.00 3.00 3.00 2.90 3.00 3.00 3.00 3.00

6 NB Yellow 2.60 3.00 2.83 3.00 2.40 2.80 2.75 2.75 2.20 3.00 3.00 3.00 3.00 3.00 2.50 2.75 2.75 3.00

6 SB Yellow 2.40 2.60 2.00 2.33 2.11 2.22 3.00 2.00 2.00 2.00 2.00 3.00 3.00 3.00 3.00 3.00 3.00 3.00

7 NB White 2.50 3.00 2.17 2.83 2.40 2.70 2.25 2.25 2.50 3.00 3.00 3.00 2.90 3.00 3.00 3.00 2.50 3.00

7 SB White 2.00 2.33 2.00 2.00 0.89 0.78 2.00 2.00 1.50 1.00 3.00 3.00 2.70 2.90 2.50 3.00 3.00 3.00

7 NB Yellow 3.00 3.00 2.50 2.67 2.67 2.67 2.67 2.67 2.67 2.67 2.67 2.67 2.89 2.89 3.00 3.00

7 SB Yellow 2.00 2.00 2.00 2.17 2.00 2.00 2.00 2.00 2.00 2.00 2.00 2.67 2.00 2.56 2.50 3.00

Daytime Nighttime

Daytime Wet

Testing w/ Overhead Lights

General Observations

• Edge lines and lane lines have similar performance

• Roadway lighting has minimal impact on nighttime performance

• Day conditions are generally more difficult than night conditions, especially day wet (i.e., glare)

• Speed has minimal impact (up to 65 mph)

Preliminary Findings

• Daytime dry: – QD > 100 mcd

– Δ QD > 25 mcd (marking – roadway surface)

• Daytime wet: – Testing continues

• Nighttime dry:– 30-m retroreflectivity > 50 mcd

• Nighttime wet:– Testing continues

Current Testing

• More wet testing

• 4-inch vs 6-inch

– ATSSA sponsored add-on

• On-coming glare (dry/wet night)

• Structured markings

Schedule

• Draft NCHRP report – September

• AASHTO-SAE spec draft – December

• Phase II testing proposed – CY 2018

– Contrast markings

– Next generation vision systems

– Continuous wetting tests

Acknowledgements

• MobilEye & Bosch – machine vision

• 3M – custom markings

• Ennis-Flint – custom markings

• Roadvista – custom measurement equipment

• PPP – custom measurement equipment

• Stripe-A-Zone – custom markings