Method and system of assisting a driver of a vehicle

A method of assisting a driver of a vehicle in driving a road, the method comprising:

• determining a location of a first one of a plurality of boundary locations along a segment of a road relative to the vehicle using a sensor;
• selecting, via a controller, a parameter for the segment of the road, the parameter including a plurality of values each corresponding to one of the plurality of boundary locations along the segment of the road;
• determining, via the controller, whether the vehicle is approaching the first one of the plurality of boundary locations based on a vehicle trajectory and the location of the first one of the plurality of the boundary locations;
• and
• providing a feedback operation to assist the driver in avoiding the first one of the plurality of boundary locations, the feedback operation based on the one of the plurality of values of the selected parameter corresponding to the first one of the plurality of boundary locations.