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A commercial vehicle's unexpected deviation from its current lane, often referred to simply as lane departure, can be a manifestation of any number of problems focused on either the vehicle (mechanical or electrical malfunction) or the driver (distraction or drowsiness). To address the topic of commercial vehicle lane departure, DaimlerChrysler Research, Freightliner and Odetics developed Lane Guidance™, a commercially available lane departure warning system. The Roll Advisor and Control (RA&C) Field Operational Test (FOT) as part of the United States Department of Transportation's Intelligent Vehicle Initiative (IVI) offered an excellent opportunity to evaluate the newly deployed Lane Guidance™ System with real world data. The goal of this evaluation was to understand the performance of the system under different environmental conditions such as rain, snow and night/daytime.