The LKAS-LDW feature has not been discussed much. I have occasionally used it and it appears to improve my driving on multi-lane highways. Last night I got back to BWI from Houston around 1:00 AM after a long day. Wow is it useful when driving home tired!! Now I wander around a lot less. I like the way it nudges me to stay in the lane. Transitions are a challenge to the sensors and unmarked curbs naturally don't register. What would a driverless car do when encountering these challenges?