Maybe SDC already do this, but it seems like the Agent should keep track of things that look like potential lanes and then if the potential lanes turn out to be

Maybe SDC already do this, but it seems like the Agent should keep track of things that look like potential lanes and then if the potential lanes turn out to be not-lanes (have barrier in them) the Agent should flag the area that looked like the start of a lane so future SDC know to avoid it.