Hi @Rameez, welcome to the forum 
I don’t believe this is something we’ve tested, because it’s generally something we expect to have poor enough results to not be worth the effort, unless high position external sensors are used which we currently expect to be prohibitively expensive and/or impractical on vehicles in the size range of ours.
In case it’s of interest, I believe this is the latest relevant discussion on the software/implementation side of things.