US Patent 10255528 Sensor fusion for lane departure behavior detection

A system for identifying an inappropriate driving behavior includes an interface and a processor. The interface is configured to receive a first sensor data from a first vehicle sensor and receive a second sensor data from a second vehicle sensor. The processor is configured to combine the first sensor data and the second sensor data to determine a combined sensor data set, determine a lane departure behavior based at least in part on the combined sensor data set using a model, and store a bad behavior indication in a database system in response to the lane departure behavior indicating a bad behavior.