I was involved in some work done many years ago. The principle road tracking was to look for any sets of lines that moved in parallel. The primitive hardware w

I was involved in some work done many years ago. The principle road tracking was to look for any sets of lines that moved in parallel. The primitive hardware was a series of horizontal line scan cameras aimed at increasing distances in front of the car and a simple sideways shift+correlation to decide which direction. This way that tracked not just white lines, but tire tracks, kerbs, road wear, roadside barriers etc. The main problem we had was on a clean unmarked newly laid road surface that was perfectly uniform. There is a highway I commute on daily which has been undergoing roadworks for the last 3years and has so many painted out lines, repairs, temporary markings, filled in trenches etc that in the rain I have no idea where the lanes are.