I was driving next to a small trailer pulled by pickup truck and noticed that the AP cluster display was displaying the car as a big-rig and it was showing farther ahead my car than it really was (even when it was right next to the car in front of me, it appeared ahead it). Based on my observations, it appears that the distance estimation for cars in adjacent lanes is done using the AP camera AND is based on some some assumed sizes of vehicles (drawback of mono-vision). That trailer, which looked almost identical to the pictured below (same brand), was mistakenly recognized by AP as a big rig trailer, but because it is smaller, AP thinks it's farther out. I'm not sure how that would affect lane intrusion detection, but it could cause issues.