Automated lane marking system using unmanned vehicles

Unmanned road marking vehicle that detects worn lane markings using three-camera imaging and vanishing point steering correction for repainting

This technology is an automated lane marking system that identifies lane conditions using cameras mounted at the front and near the ground of an unmanned vehicle, determines the vehicle's position, moves the vehicle to the marking location based on analysis, and applies paint via internal nozzles.

Lane markings are essential for guiding drivers, requiring periodic repainting. Traditionally, this relied on manual steering or operators driving vehicles to align positions. Because external workers had to monitor the process to ensure accuracy, they were exposed to safety risks, and the process was labor-intensive.

This technology uses a front-facing camera for site monitoring, while side-mounted cameras capture road surfaces and wear levels. After filtering for color and brightness, it extracts lanes using iterative Hough transforms and RANSAC, correcting steering based on the vanishing point of parallel lanes. New markings are plotted using road blueprints and 3D maps. Surface defects are identified via contrast analysis, and line defects via scratch detection algorithms. Cracks are cleaned with a built-in vacuum before molten paint is injected. Applicable to highways, new roads, airport runways, and parking lots, it eliminates the need for flaggers and monitors, reduces lane closure times, and enables precise repainting of only worn sections.

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Key Features:

• Imaging and positioning unit that generates lane condition and vehicle location data using cameras and sensors mounted near the lanes on the front or bottom of the unmanned vehicle
• Lane analysis unit that compares image data with standardized lane information from electronic maps and databases to analyze vehicle position, lane color, and wear
• Steering correction structure within the lane analysis unit that extracts lanes through iterative Hough transforms and RANSAC estimation, compensating for the vehicle's steering angle based on the vanishing point of parallel lanes
• Painting unit that moves to the target location, removes debris from cracks with a vacuum, and injects molten paint through nozzles

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This invention was developed with support from the Ministry of Education's Capstone Design program.

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