A device mountable on a vehicle, comprising: a camera adapted to capture, when mounted on the vehicle, and while the vehicle is in motion, multiple images of a roadway within a field of view of the camera, a processor configured to: obtain the multiple images from the camera, apply image processing to the multiple images to recognize a first roadway lane constraint (804, 904, 1004) and a second roadway lane constraint (806, 906, 1006) appearing in at least one of the multiple images, wherein the first roadway lane constraint (804, 904, 1004) defines a boundary at an edge of a lane (802, 900, 1002) in which the vehicle should be caused to travel, and the second roadway lane constraint (806, 906, 1006) defines a boundary at another edge of said lane (802, 900, 1002) in which the vehicle should be caused to travel, characterized in that the the processor (no) is further configured to: determine, based on the multiple images, that defined lane prediction conditions are satisfied, wherein the defined lane prediction conditions comprises a first lane prediction condition that the second roadway lane constraints (806, 906, 1006) becomes undetectable in the multiple images as the vehicle moves on the roadway, and a second lane prediction condition that that the first roadway lane constraint (804, 904, 1004) has been recognized for at least a threshold time or a threshold distance; in accordance with a determination that the first and second lane prediction conditions are satisfied, predict a location of the second roadway lane constraint (806, 906, 1006); issue a notification or a control signal to control a motion of the vehicle according to the predicted location of the second roadway lane constraint (806, 906, 1006). a camera adapted to capture, when mounted on the vehicle, and while the vehicle is in motion, multiple images of a roadway within a field of view of the camera, a processor configured to: obtain the multiple images from the camera, apply image processing to the multiple images to recognize a first roadway lane constraint (804, 904, 1004) and a second roadway lane constraint (806, 906, 1006) appearing in at least one of the multiple images, wherein the first roadway lane constraint (804, 904, 1004) defines a boundary at an edge of a lane (802, 900, 1002) in which the vehicle should be caused to travel, and the second roadway lane constraint (806, 906, 1006) defines a boundary at another edge of said lane (802, 900, 1002) in which the vehicle should be caused to travel, obtain the multiple images from the camera, apply image processing to the multiple images to recognize a first roadway lane constraint (804, 904, 1004) and a second roadway lane constraint (806, 906, 1006) appearing in at least one of the multiple images, wherein the first roadway lane constraint (804, 904, 1004) defines a boundary at an edge of a lane (802, 900, 1002) in which the vehicle should be caused to travel, and the second roadway lane constraint (806, 906, 1006) defines a boundary at another edge of said lane (802, 900, 1002) in which the vehicle should be caused to travel, characterized in that the the processor (no) is further configured to: determine, based on the multiple images, that defined lane prediction conditions are satisfied, wherein the defined lane prediction conditions comprises a first lane prediction condition that the second roadway lane constraints (806, 906, 1006) becomes undetectable in the multiple images as the vehicle moves on the roadway, and a second lane prediction condition that that the first roadway lane constraint (804, 904, 1004) has been recognized for at least a threshold time or a threshold distance; in accordance with a determination that the first and second lane prediction conditions are satisfied, predict a location of the second roadway lane constraint (806, 906, 1006); issue a notification or a control signal to control a motion of the vehicle according to the predicted location of the second roadway lane constraint (806, 906, 1006). determine, based on the multiple images, that defined lane prediction conditions are satisfied, wherein the defined lane prediction conditions comprises a first lane prediction condition that the second roadway lane constraints (806, 906, 1006) becomes undetectable in the multiple images as the vehicle moves on the roadway, and a second lane prediction condition that that the first roadway lane constraint (804, 904, 1004) has been recognized for at least a threshold time or a threshold distance; in accordance with a determination that the first and second lane prediction conditions are satisfied, predict a location of the second roadway lane constraint (806, 906, 1006); issue a notification or a control signal to control a motion of the vehicle according to the predicted location of the second roadway lane constraint (806, 906, 1006).