I am aware of the conventional Lane Keeping Assistance Systems (LKAS) approaches like
The end result of either of them is 2 lines of reference and the steering angle can be approximated using the imaginary line running between the both detected lines. I suppose the distance measurements are done in pixels. A PID controller can then be devised to replicate a line-follower method.
What if we only have a single line, for e.g., the white marking on the left end of the road. How can one still navigate the car autonomously ?