Road Markings

The lane markings may be dashed or continuous and use a ~2 cm wide white line. For dashed lane markings:

  • Dash length: 4.5 cm

  • Gap length: 4.5 cm

The lane width is ~35 cm, measured from the inner edges of the respective markings.

../../_images/road.png

Highway Markings

On the highway section:

  • Lane width: ~37 cm

  • Line width: 4 cm

  • Dashed pattern: 9 cm on / 9 cm off

../../_images/Highway.png

Curves and Intersections

The following image shows the tightest curve on the track (also the most frequent curve type):

../../_images/marking_tight_curve.png

Below are the main types of intersections. More variations exist on the track, but their dimensions are largely similar.

../../_images/intersection.png ../../_images/intersection_T.png

Crosswalk Dimensions

Dimensions for crosswalk signalization (also valid for 1-lane crosswalks):

../../_images/Crosswalk.PNG

Parking Spot Dimensions

../../_images/Parking_spots.PNG

Roundabout Dimensions

../../_images/Roundabout.PNG

Starting Point

The starting point consists of an incomplete rectangle:

  • Width: 20 cm (equal to the vehicle width)

  • Positioned 56 cm before the chessboard print

The chessboard is a 7×6 grid of 5 cm squares, spanning the full lane width.

It can be used for automatic camera calibration at the start of the run.

../../_images/Start.PNG