Abstract: A system for determining lane information. A memory storing instructions executable by a processor includes instructions to receive forward image data of a roadway from a forward-facing camera of a vehicle, determine visible lane boundaries of the driving lane based on lane marking features in the forward image data, determine a predicted lane boundary of the driving lane based, at least in part, on forward features in the forward image data, and determine a driving path of the vehicle through the visible lane boundaries and the predicted lane boundary.