1. A lane-control system suitable for use on an automated vehicle, said system comprising: a camera used to capture an image of a roadway traveled by a host-vehicle; a lidar-sensor used to detect a discontinuity in the roadway; and a controller in communication with the camera and the lidar-sensor, wherein the controller defines an area-of-interest within the image, constructs a road-model of the roadway based on the area-of-interest, determines that the host-vehicle is approaching the discontinuity, and adjusts the area-of-interest within the image based on the discontinuity.