In the past decade, many digital devices were developed and implemented [7], Most of them were costly electronic devices; the categories of these devices are vehicular-based driving aids such as GPS navigation systems, Transponders and Mobile phones. Road-based driving aids are inductive loop detectors and sensors, traffic surveillance systems such as closed-circuit television (CCTV) [8][9] With the availability of GPS systems, it is practical to locate a vehicle with certain accuracy. However, at the time of lane departure the GPS data do not provide the exact positions of vehicles, due to degradation or multi-path problems. Therefore, it is challenging to determine the exact lane position that a vehicle is departing [10], [11],