FMCSA 1995 Report: Concept of Operations and Voluntary Operational Requirements for Lane Departure Warning Systems ( LDWS ) On-board Commercial Motor Vehicles.

http://www.fmcsa.dot.gov/facts-research/research-technology/report/lane-departure-warning-systems.htm

http://www.fmcsa.dot.gov/facts-research/research-technology/report/lane-departure-warning-systems.pdf