How does lane departure warning system work in an Audi A2?

I am trying to understand the specifics of the lane departure warning system in Audi A2. How does it detect lane boundaries and alert the driver? What is the accuracy of the system and how does it perform in different road conditions?

The Audi A2 uses a camera to monitor lane markings on the road and warn the driver if the vehicle is drifting out of the lane. The camera captures images of the road and compares them to the lane markings, and if it detects the vehicle is crossing the lane boundary without a turn signal, it will provide an audible and visual warning for the driver to take corrective action.

In addition to lane markings, the Audi A2 also takes into account the vehicle's trajectory and steering angle to determine if it is unintentionally leaving the lane. This makes the system more accurate and reliable in detecting lane departures in real-time.