In the accident of hazardous cargo transporter, secondary accident caused by mounted cargo is more damage than primary. The main cause of accidents is unintended lane departure. Related study of lane departure alarm or warning is based on vision sensor affected by various environmental conditions so that lane departure warming system is not operating by bad weather or sunset hours. To overcome these problems, this paper defines constraints of GNSS based lane departure warming method and analyzes the accuracy of car position and electronic map error for satisfying the condition of reliability.

Keywords: GNSS, lane departure warming, reliability