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How does the Audi A4's Lane Departure Warning System work?

I want to know more about the Lane Departure Warning System of the Audi A4. How does it detect lane markings and alert the driver? What are the possible reasons for false alerts?

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The Audi A4's Lane Departure Warning System uses a camera mounted on the front windshield to detect lane markings. When the vehicle crosses a lane marking without using a turn signal, the system will issue a warning

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