Triggering Logic for Lane Keeping Aid Using Predicted Evasive Maneuver

Disclosed is a computer-implemented method for determining a lane/road keeping maneuver of a host vehicle. The computer-implemented method includes determining at least one traveling trajectory of the host vehicle. The method includes detecting a lane boundary of a lane or a road boundary of a road that the host vehicle is traveling. The method includes determining, based on the at least one traveling trajectory and the lane/road boundary, whether at least one triggering condition for performing the lane/road keeping maneuver is met. The method includes performing the lane/road keeping maneuver to maintain the host vehicle within a predefined distance from the lane/road boundary.