The Development of a Lane Identification and Assessment Framework for Maintenance Using AI Technology †

This study proposes a vision-based framework to support AVs in maintaining stable lane-keeping by assessing the condition of lane markings. Unlike existing infrastructure standards focused on human visibility, this study addresses the need for criteria suited to sensor-based AV environments. Using real driving data from urban expressways in Seoul, a YOLOv5-based lane detection algorithm was developed and enhanced through multi-label annotation and data augmentation. The model achieved a mean average precision (mAP) of 97.4% and demonstrated strong generalization on external datasets such as KITTI and TuSimple. For lane condition assessment, a pixel occupancy–based method was applied, combined with Canny edge detection and morphological operations. A threshold of 80-pixel occupancy was used to classify lanes as intact or worn. The proposed framework reliably detected lane degradation under various road and lighting conditions. These results suggest that quantitative, image-based indicators can complement traditional standards and guide AV-oriented infrastructure policy. Limitations include a lack of adverse weather data and dataset-specific threshold sensitivity.