Limited access highways have been accepted as a mechanism to optimize transport for many years. According to the Transportation Research Board (TRB), limited access highways offer greater capacity; improved safety; reduced fuel consumption; less pollution; more positive impacts on motorists; and more positive impacts on neighborhoods. From the point-of-view of autonomy, limited access highways offer use-models with a significant reduction in complexity. Not surprisingly, many of the initial applications for autonomy have focused on highways. In passenger cars, the focus has been on functionality such as advanced cruise control with underlying capabilities such as lane-keeping and of course collision avoidance.