Testing Lane Departure Warning and Lane Keep Assist Systems

HomeTesting Lane Departure Warning and Lane Keep Assist Systems

With real-time measurement and positional accuracy at less than 2 cm, the VBOX testing system captures the data that developers and manufacturers require to verify the effectiveness of their Lane Departure Warning system.

At the core of the system is RACELOGIC’s flagship data logger, the VBOX 3i RTK, connected via radio telemetry to an RTK Base Station.

VBOX 3i firmware version 2.6 and higher enables engineers to log positional and time-to-collision data from up to 3 moving targets and a lane simultaneously, allowing them to meet the guidelines set out by the new Lane Change Test for ACSF (Automatically Commanded Steering Function).

  • Less than 2cm positional accuracy
  • Reference lane edge can be straight or curved
  • Measurement within multiple lane types
  • Low latency
  • Synchronised video
  • Free Analysis Software
  • Capture of lane departure warning signals via CAN or digital/analogue inputs
  • Easy to transport and install
  • Real-time output of all measured parameters
  • Simultaneous measurement of up to four points in the test vehicle
  • Lane Change Test for ACSF compliant

  • Vehicle speed (0.1 km/h RMS)
  • Lateral speed to line (0.1 km/h RMS)
  • Perpendicular distance to line (0.02 m)
  • Vehicle angle to line
  • Time to cross line
  • Yaw rate (depends on antenna separation)
  • LDWS signal output
  • Positional and time-to-collision data from up to 3 moving targets and a lane simultaneously

For a list of all standard GPS data channels and accuracies that are also measured please refer to the VBOX 3i Dual Antenna with RTK product page 3i Dual Antenna with RTK product page.


Post-processing of test data with the VBOX File Processor software enables measurement within multiple lane types and with no limit to the lane length.


When used in conjunction with Video VBOX or VBOX HD, the measured parameters can be graphically overlaid in real time onto the recorded video, providing a clear visual reference to the performance of the test.

Graphical overlay is totally user configurable and can be easily altered to present relevant information according to the tests being conducted.

A ruler generated graphical overlay can be aligned to real-world measurements to ensure that the visual reference is accurate.


VBOX Test Suite has been developed to make the process of analysing your test results as quick and clear as possible by combining a clean layout with the ability to compare sets of data simultaneously using multiple test conditions.

It does this by using separate tabs for each test, enabling you to compare different vehicles or set-ups without having to reset your test parameters each time, or search through multitudes of data on a single screen.

The software also uses context sensitive menus to make it easy for you to manage your data and can be used in either ‘Offline’ mode, for post-test analysis, or ‘Online’ mode so you can see your data in real-time.


If the vehicle carries the LDWS operation data on its CAN Bus, this can be simultaneously logged (and displayed in video if a VBOX video logger is also being used) alongside that of the GPS data, giving you an exact comparison between relative vehicle position and onboard strategy data.

If you cannot use the vehicles’ own CAN system, an AVAD3 audio & visual detector from DTC Solutions can be used alongside VBOX to record when an ADAS system has become active. The AVAD3 is capturing acoustic and optical alerts and signals generated by the vehicle’s advanced driver assistance system. It produces a CAN or digital signal when recognising changes of the shapes and colors of defined icons or when audible signals are identified. The output of the AVAD3 can then be used by the VBOX to log the exact moment the vehicle safety message is displayed to the driver.


In Lane Departure Mode, four rather than two contact points can now be set which allows for the range of the rear corners of the vehicle to the lane edge to be calculated. This feature has been conceived with Park Assist testing in mind.

Lane Departure Warning / Lane Keep Assist Systems testing and validation can be conducted on the test track using a static DGPS Base Station. A typical RACELOGIC test system comprises of:


VBOX 3i RTK (x2)
100Hz GPS data logger in both the subject and target vehicle

Each RLVB3iSLR logs up to 64 channels simultaneously (excl. standard GPS).



The RLVBCANHUB allows for additional external modules to be connected to a VBOX 3i. Its footprint is the same as the VBOX 3i, so it can sit neatly underneath.


Video VBOX Pro (optional)
When used in conjunction with Video VBOX or VBOX HD, the measured parameters can be graphically overlaid in real-time onto the recorded video.


Several Radio Pairs
Used to transmit/receive differential correction signals, for VBOX to VBOX or VBOX to PC communication.

There are a variety of telemetry systems available, employing a range of frequencies.


Tripod for GPS Antenna
The VBBSTRIPOD2 enables the Base Station GPS Antenna to be mounted at a suitable height, at a non-permanent track side location.


Preview Monitor (optional)
The Preview Monitor comes with the Video VBOX and enables you to align the cameras on the vehicle.


DGNSS Base Station RTK
Enables a positional accuracy of ±2cm.

The RLVBBS4RG comes with antenna and is able to transmit RTCM, CMR, RTCMV3 or RL proprietary (2cm) correction messages via radio.


Survey Trolley (optional)
The Survey Trolley Kit allows for the accurate surveying of a lane edge, necessary when performing ACC tests along a curved lane.


Camera Mounting Arm (optional)
Adjustable mounting arm for use with video cameras.


VBOX systems are suitable for the following test scenarios:


During these tests the vehicle is driven on a straight line at 45mph (±1.2mph). After passing the start gate the vehicle is turned to one side with a lateral velocity of 0.1 – 0.6m/s until it crosses the lane marking. The test is repeated five times on each side over three styles of road marking. A pass is granted when the LDW alert activates between 0.75m before and 0.3m after the lane crossing. A real-time video reference must be captured from both the inside of the test vehicle and from the relevant vehicle side.

The VBOX can be offset to measure the perpendicular distance from the vehicle’s front corner to the referenced lane edge at ±2cm positional accuracy. The lateral and longitudinal speed is measured at 0.1km/h.


Data can be seamlessly integrated with video from four cameras in real-time by using a Video VBOX Pro. All data can be viewed in real-time using a laptop or tablet PC.


ISO regulations state that the Lane Departure Warning system must work on both straight and curved lanes. During the test the vehicle must be driven in the centre of the lane at a speed of 65km/h (±3km/h) and drift gently to one side with a rate of departure between 0.1 and 0.8m/s. The test must be repeated three times and include a repetition heading in the opposite direction. A pass is granted when the LDW alert activates within 0.3 metres after the lane marking.

The VBOX can be offset to measure the perpendicular distance from the vehicle’s front corner to the referenced lane edge. The system provides ±2cm positional accuracy with lateral speed, time and the angle between the vehicle heading and the tangent of the reference lane being calculated by the VBOX. All data can be viewed in real-time using a laptop or tablet PC.

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