This document specifies the definition of the system, classification, functions, human-machine interface (HMI) and test methods for lanedeparture warning systems. These are in-vehicle systems that can warn the driver of a lanedeparture on highways and highway-like roads. The subject system, which may utilize optical, electromagnetic, GPS or other sensor technologies, issues a warning consistent with the visible lane markings. The issuance of warnings at roadway sections having temporary or irregular lane markings (such as roadwork zones) is not within the scope of this document. This document applies to passenger cars, commercial vehicles and buses. The system will not take any automatic action to prevent possible lanedepartures. Responsibility for the safe operation of the vehicle remains with the driver.