The following sections of this document provide information about three onboard safety systems – Forward Collision Warning Systems, Lane Departure Warning Systems and Roll Stability Control Systems – and a summary of findings of their costs and benefits for motor carriers that purchase them. These results were based on the assumption that all of the crash costs in categories listed in the document would be incurred by self-insured, large-sized motor carriers or those carriers with insurance deductibles at or above total crash costs.