This paper presents an approach to the unmanned control of a wheeled robot, which includes recognition of road infrastructure objects, recognition of continuous and intermittent road markings, generation of control signals. Recognition of road infrastructure objects is carried out using a neural network that generates a segmented image. After that, the segmented image is identified with the found objects, including the roadway, which is used by the road marking recognition subsystem searching for continuous and intermittent lines using the computer vision library. On the basis of the information received from the considered subsystems control commands are generated indicating the direction of movement and speed. The algorithm was developed on a 1:18 scale model of the city infrastructure, where a wheeled robot simulated as a car.