This paper describes the design and evaluation of an electronic road pricing (ERP) system for use in a multi-lane city road environment. The system is formed by an automatic vehicle identification-debiting (AVID) system, a vehicle position detector (VPD), and an enforcement camera system (ECS). The evaluation covered various aspects, including the design, the performance of subsystems, and of the integrated system, the system reliability, and the system qualification tests (SQT) prior to the production and implementation. The SQT result shows an unprecedented performance of the AVID system with one communication error in the first 1.3 million transactions and no communication errors in the second 1.3 million transactions. All violations were successfully detected by the enforcement camera system with about 12% of redundant images.