fig1 a - 1b shows a system and method for coding digital information 102 stored in lane markings 101 . by coding , we mean encoding and decoding . the markings as described herein can be in the visible portion of the spectrum or infrared , including near and far ( thermal ) infrared bands . the encoded digital information is embedded in a substrate , e . g ., the road surface , similar to the way that digital information is stored in the substrate of compact discs ( cd ) by physically altering the substrate . the digital information can be rewritten by repainting as the associated information changes over time . hence , the road surface and markings can be considered a read / write memory for storing the encoded digital information . normal paint or near infrared reflector paint and materials , as well as other paints and materials that have different emissivity can be used to embed the digital information into the substrate . an infrared source illuminating the road markings may be used to improve the visibility of the infrared camera . digital information on a cd is read by an optical sensor . likewise , we use an optical sensor 110 , e . g ., a camera . the scene can be illuminated from ambient light from the sun or street lights . the vehicle can also illuminate the road marking using a visible or infrared light source . the camera can be for visible or infrared light . the output of the camera is connected to a processor 120 for performing the steps of the method as shown in fig1 b . the camera acquires images 111 . the digital information in the images is decoded 150 to produce decoded digital information 151 . the decoded digital information is analyzed 160 to generate 170 feedback signals 122 to a user 101 of the road , or a controller 130 used during operation of the vehicle 102 . the decoding can use a likelihood function . the following constraints are observed for the encoding of digital information . first , the lane marking should be unobtrusive even when storing the digital information . to resist wear and tear , the digital information includes error correcting codes ( ecc ). one standardized code that can be used is a qr code . the qr code is a two - dimensional matrix code where the white and black colors of the digital information represent 0 and 1 bits . the qr code can be used with the reed solomon ecc . qr codes are used in numerous commercial tracking applications , and convenience - oriented applications aimed at mobile users . the qr code can store addresses and uniform resource locators ( urls ). cameras equipped with the appropriate reader software can scan the image 111 of the qr code and launch a browser . the act of linking from physical world objects , e . g ., lane markings , is known as a hardlink or physical world hyperlinks . as another advantage , qr codes can incorporate eye - catching images or characters 105 as a visual aid to the user . another possible encoding is the public domain pdf417 code , which is a stacked linearbar code . open source decoders are readily available and can be user modified . if a resolution of the camera is 640 × 480 pixels , then a typical portion of the marking near the camera covers 16 × 144 pixels . each bit should cover about 2 × 2 pixels . to ensure visibility to human , we enforce the ratio of white and black modules to at least 2 to 1 . therefore , a typical lane marking is about 12 cm wide , and 110 cm long . three consecutive bits are combined into a group such that each group contains at least two white bits to obey the above stated constraint . therefore , each group can store one of four possible symbols ( www , bww , wbw , wwb ). thus , a marking can store 48 symbols , or 96 bits of information without the ecc . if the ecc is ⅓ , then the marking can store 32 bits . to encode the 32 information bits to store in a lane marking , we first apply a rate ⅓ ecc to obtain 96 bits . then , every two consecutive bits are combined to form 48 symbols . an interleaver can be used to scramble the 48 symbols , and the 48 interleaved symbols are mapped sequentially to each group . because the camera is elevated above the substrate , the relative length between the length and the width of the lane marking is smaller than in reality . hence , the bits can be elongated to 6 cm × 3 cm . this decreases the total number of information bits in a lane marking , but ensures sufficient resolution for lane marking that is about 2 meters away from the camera . other size variations are possible , for example , lane markings 105 that are orthogonal to the direction of travel . to help identify starting and ending location of a lane marking , additional marks 107 and preambles 108 can delineate the digital information . as shown in fig2 , botts &# 39 ; dots 201 are round raised lane markers that provide tactile feedback to drivers when the vehicle crosses the marking . botts &# 39 ; dots can be various colors . the distance 202 between two consecutive bott &# 39 ; s dots typically does not exceed 2 meters . to ensure readability of the digital information , we set the distance between the bott &# 39 ; s dots to be multiple of 10 cm . the presence of a bott &# 39 ; s dot represents the 1 bit , and the absence a o bit . if the digital data contain more than 19 consecutive zeros , a bott &# 39 ; s dot is inserted without carrying any information . this ensures that spacing between the bott &# 39 ; s dots does not exceed 200 cm . for a field of view of 20 m , at least 190 bits of information can be communicated , when no ecc is used . fig4 shows lane markings 401 that vary the width . this is similar to the two - dimensional matrix code , except that the code is only applied at the edge . fig5 shows lane markings 501 by varying the lengths and gaps between the markings . it should be understood that markings described above can be combined in various forms . all the above digital patterns are also applied using a near infrared reflector paint and material as well as other paints and materials that have different emissivity that make them distinguishable in a thermal infrared camera . using different colors in a lane marking is another way of including the digital information . the digital information can encode road curvature , points of interest , speed restrictions , upcoming hazards , exit numbers , and cross road names . road curvature and speed information can help vehicle to control steering and speed to achieve lane keeping support functionality . special digital information can be added to temporary lanes during road construction . another application embeds location information , including geospatial coordinates , longitude , latitude , relative position and other coordinate system information , using the digital codes within the lane markings . such an enhanced lane marking gives location information to the vehicle without depending on a gps system . as an advantage , the lane markings 601 can store positional information that can be decoded inside tunnels , or urban canyons as shown in fig6 , where conventional positioning systems , such gps , fail .