A lane ending detection system for a vehicle , the system comprising: at least one image capture device configured to acquire at least one image of an area forward of the vehicle, the area including at least one road sign providing information indicative of a lane ending; a data interface; and at least one processing device configured to: receive the at least one image via the data interface; extract lane ending information from a representation of the at least one road sign included in the at least one image; determine , based on at least one indicator of position of the vehicle, a distance from the vehicle to one or more marked or unmarked lane boundaries associated with the current lane in which the vehicle is traveling, wherein the indicator of position includes information obtained by direct or indirect measurement of the position of the vehicle; determine , based on the extracted lane ending information and based on the determined distance from the vehicle to the one or more marked or unmarked lane boundaries, that the current lane in which the vehicle is traveling is ending; cause the vehicle to change lanes to another lane that is not ending based on the determination of that the current lane in which the vehicle is traveling is ending; and update, based on the at least one indicator of position of the vehicle, the distance from the vehicle to one or more marked or unmarked lane boundaries associated with the lane that is not ending. at least one image capture device configured to acquire at least one image of an area forward of the vehicle, the area including at least one road sign providing information indicative of a lane ending; a data interface; and at least one processing device configured to: receive the at least one image via the data interface; extract lane ending information from a representation of the at least one road sign included in the at least one image; determine , based on at least one indicator of position of the vehicle, a distance from the vehicle to one or more marked or unmarked lane boundaries associated with the current lane in which the vehicle is traveling, wherein the indicator of position includes information obtained by direct or indirect measurement of the position of the vehicle; determine , based on the extracted lane ending information and based on the determined distance from the vehicle to the one or more marked or unmarked lane boundaries, that the current lane in which the vehicle is traveling is ending; cause the vehicle to change lanes to another lane that is not ending based on the determination of that the current lane in which the vehicle is traveling is ending; and update, based on the at least one indicator of position of the vehicle, the distance from the vehicle to one or more marked or unmarked lane boundaries associated with the lane that is not ending. receive the at least one image via the data interface; extract lane ending information from a representation of the at least one road sign included in the at least one image; determine , based on at least one indicator of position of the vehicle, a distance from the vehicle to one or more marked or unmarked lane boundaries associated with the current lane in which the vehicle is traveling, wherein the indicator of position includes information obtained by direct or indirect measurement of the position of the vehicle; determine , based on the extracted lane ending information and based on the determined distance from the vehicle to the one or more marked or unmarked lane boundaries, that the current lane in which the vehicle is traveling is ending; cause the vehicle to change lanes to another lane that is not ending based on the determination of that the current lane in which the vehicle is traveling is ending; and update, based on the at least one indicator of position of the vehicle, the distance from the vehicle to one or more marked or unmarked lane boundaries associated with the lane that is not ending. <EOS>