Abstract
One of the most noticeable trends of the automotive industry in the 1990's is the emerging of active safety technologies. Instead of passive protection and crashworthiness, emphasis has been shifted toward accident prevention and damage reduction using active safety techniques. To develop effective safety devices, it is necessary to estimate vehicle motions accurately, and reliable road friction estimation is one of the most important steps toward this goal. This paper is part of an on-going research toward the development of a lane-departure warning system, one of the most technology-demanding active safety systems.