Lane feature data is processed to compute a feed-forward lane curvature of a left lane boundary and a right lane boundary. A look-ahead lane width and a near lane width are computed based on left and right lane boundaries. A lane width increase is computed to detect a lane split or lane merge based on differences between increasing lane widths. A side of the vehicle on which the lane split or merge occurred is identified or determined. The lane boundary on the side on which the lane split or merged occurred is ignored, and a single-sided lane centering calculation is performed based on the non-ignored lane boundary.