a system of one or more computers can be configured to perform particular operations or actions by virtue of having software , firmware , hardware , or a combination of them installed on the system that in operation causes or cause the system to perform the actions . one general aspect includes a system , including a computer having a processor and a memory , the memory storing instructions executable by the processor such that the computer is programmed to receive an image of at least one lane marker from an image capture device mounted to a vehicle . the system also identifies a lane transition according to the image . the system can also control at least one of steering , braking , and acceleration of the vehicle according to a history of data concerning the lane transition locations .