In one aspect, the present application relates to dark-colored retroreflective pavement markings. The dark-colored retroreflective pavement markings may be used in a system that provides information about the arrangement of pavement markings to a sensor on a vehicle. This arrangement may be used to aid in the identification of a particular lane on a roadway. The pavement marking system comprises a sensor placed on a vehicle and at least a first pavement marking and a second pavement marking, wherein each of the first pavement marking a second pavement marking comprising different properties