Lane departure monitoring

Methods, systems, and computer programs are presented for the management of lane-departure (LD) events. One method includes training a classifier for LD events and loading the classifier into a vehicle. LD events are detected based on outward images using the classifier, while the turn signal is monitored to prevent false triggers. If an LD event is detected, rules are checked for alerting the driver and deciding whether to alert the driver or not. Subsequently, additional rules are checked for reporting the event and deciding whether to report the event to a Behavior Monitoring System (BMS) or to discard it. The method also includes a solid line departure model that identifies crossing dashed, solid-white, and solid-yellow lanes, delaying alerts and event generation until a significant portion of the vehicle crosses over the lane. The model also outputs a confidence score reflecting the amount of vehicle deviation from the driving lane.