How does the Audi A7 lane departure system work?

I just bought an Audi A7 and I am curious about the lane departure system. What exactly is it and how does it work?

The Audi A7 lane departure system uses a camera mounted on the windshield to detect lane markings and alert the driver if the vehicle drifts out of its lane.

Once the vehicle drifts out of its lane, the system will send a visual and audible warning to the driver, prompting them to take corrective action.

In some models, the system can even assist in steering the vehicle back into its lane if the driver does not respond to the warning.