Experiments have been conducted on automated driving systems (ADS) since at least the 1920s; trials began in the 1950s. The first semi-automated car was developed in 1977, by Japan's Tsukuba Mechanical Engineering Laboratory, which required specially marked streets that were interpreted by two cameras on the vehicle and an analog computer The vehicle reached speeds up to 30 kilometres per hour (19 mph) with the support of an elevated rail A landmark autonomous car appeared in the 1980s, with Carnegie Mellon University's Navlab and ALV projects funded by the United States' Defense Advanced Research Projects Agency (DARPA) starting in 1984 and Mercedes-Benz and Bundeswehr University Munich's EUREKA Prometheus Project in 1987. By 1985, the ALV had demonstrated self-driving speeds on two-lane roads of 31 kilometres per hour (19 mph), with obstacle avoidance added in 1986, and off-road driving in day and nighttime conditions by 1987 A major milestone was achieved in 1995, with CMU's NavLab