This paper presents a sensor which can be included in an Advanced Driver Assistance System (ADAS) that is compliant with the Vehicle to Infrastructure communication standard (V2I). This system allows estimation of the vehicle lateral position in real time by ensuring cooperation between an on-board vehicle system and passive transponders integrated in the lateral white strips of the road. Based on an optimization method, the lateral position vehicle is provided with a distance error less than 3 cm. In this paper, experimental results are presented in order to evaluate the robustness of the proposed system in a realistic environment. Three scenarios are considered to take into account the bitumen properties, the presence of parasitic reflectors in different positions around the system and the interaction between transponders.