A computer-implemented method includes receiving, at a controller of a vehicle, the controller having one or more processors, image data of a road in front of and along which the vehicle is traveling, the road having a plurality of lane lines defining at least one lane. The method includes detecting a pair of the lane lines using the image data. The method includes determining that one of the pair of lane lines is an invalid lane line for defining a lane in which the vehicle is traveling. The method includes generating a virtual lane line based on previous image data in response to determining the invalid lane line, the virtual lane line being configured to replace the invalid lane line. The method also includes controlling lane keeping of the vehicle using the virtual lane line and the other lane line of the pair of lane lines.