Self-Driving Car Lane Keeping: Maintaining lane position is a crucial function for self-driving cars. Design an algorithm for a self-driving car to stay within its lane on a highway. Describe the steps involved, including: · Lane Detection: How would the car detect lane markings (e.g., using computer vision)? What challenges might arise (e.g., faded markings, shadows)? · Vehicle Localization: How would the car determine its position relative to the lane markings? · Control Strategy: How would the car adjust its steering to maintain its lane position? Consider factors like speed, curvature of the road, and sensor noise. · Handling Unexpected Events: How would your system handle unexpected events, such as a sudden lane change by another vehicle or construction zones?