METHOD FOR OPERATING A VEHICLE, COMPUTER PROGRAM PRODUCT, CONTROL SYSTEM AND VEHICLE

A method for operating an ego-vehicle includes receiving sensor data of a sensor system of the ego-vehicle and detecting an absence of lane markings and a presence of a preceding vehicle based on the sensor data. The method also includes determining a virtual lane based on a heading angle of the preceding vehicle and a lateral distance between the ego-vehicle and the preceding vehicle derived from the sensor data, and performing a lane keeping assistant function to keep the ego-vehicle on the virtual lane.