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Nissan's Smart Car System is being further developed in Japan.  When swerving inbetween lanes Lane Departure Prevention system (LDP) helps you stay in-between the lines and also helps in parking situations as well.

There is a camera hooked up to your brakes for pushing the car back into the appropriate lane.  Sounds pretty smart to me.  Maybe they'll develop their cars to pick me up some lunch and McDonald's too.  I'm hungry!