Autoware
Autoware is an open-source software for urban autonomous driving. It supports followings: 3D Localization, 3D Mapping, Path Planning, Path Following, Accel/Brake/Steering Control, Data Logging, Car/Pedestrian/Object Detection, Traffic Signal Detection, Traffic Light Recognition, Lane Detection, Object Tracking, Sensor Calibration, Sensor Fusion, Cloud-oriented Maps, Connected Automation, Smartphone Navigation, Software Simulation, Virtual Reality.
This means that Autoware can be a good reference for autonomous driving related research.
Gazebo Demo of dbw_mkz
This example is from Dataspeed that developed an ADAS kit for Lincoln MKZ. The demo below shows an example of lane detection in the Gazebo environment.
CATVehicle ROS Package
https://github.com/sprinkjm/catvehicle
The CAT Vehicle Testbed: A Simulator with Hardware in the Loop for Autonomous Vehicle Applications.