Naive centering certainly is. That's exactly what caused this behavior. Just about any scenario where the car tries to split the difference between widening lan

Naive centering certainly is. That's exactly what caused this behavior. Just about any scenario where the car tries to split the difference between widening lane lines has the potential of causing this problem. To make matters worse, it's trivial to run across a case where the road curves AND splits, causing the 'neutral' path to go straight into a barrier… which is exactly what's seen in the video. The straight path would be toward the split-off road, but it veers slightly to the right before splitting. Makes me wonder if GPS can play a role in determining whether the lane markings are liable to seduce the autopilot into splitting the difference. Given established roads, the car should have some clue this scenario is approaching. If we can see a 'V' approaching on a simple freaking Garmin, the car ought to be able to have that information.