Lane keeping works fine when Autopilot is active. Add an option to enable lane keeping only when Autopilot is off.
Audi, in contract, will steer the vehicle back into the lane at all times if you go over a line.
Moderator: We’ve been unable to confirm Audi does this at all times. We suspect it must be an option. If it was enabled at all times, with various problematic lane markings, if such a feature were on all the time, it would likely crash the car.
(lightly edited by moderator)