Measuring Lane Deviation

[jpgarrett17]

I'm working on a program to track takeover smoothness in the case of automation failure by tracking the users ability to stay in their lane correctly when they obtain control, and I've looked at the documentation and currently have an implementation of this using waypoints

     ```

vehicle_location = self.player.get_location()
waypoint = self.world.get_map().get_waypoint(vehicle_location)
lane_center = waypoint.transform.location
forward = waypoint.transform.get_forward_vector()
right = carla.Vector3D(x=-forward.y, y=forward.x, z=0)
right_dir = right / math.sqrt(right.x ** 2 + right.y ** 2 + right.z ** 2)
diff = vehicle_location - lane_center
lateral_dist = abs(diff.x * right_dir.x + diff.y * right_dir.y)
lane_width = waypoint.lane_width
deviation_percentage = (lateral_dist / (lane_width / 2)) * 100
return lateral_dist

Which I then output to a graph. It's not the most accurate and many times doesn't work too great at all. Is there a more accurate way to get these measurements?