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Search references for LANE CENTERING. Phrases containing LANE CENTERING
See searches and references containing LANE CENTERING!LANE CENTERING
Mechanism designed to keep a car centered in the lane
In road-transport terminology, lane centering, also known as lane centering assist, lane assist, auto steer or autosteer, is an advanced driver-assistance
Lane_centering
Open source driver assistance system
road. This improves perception on roads without lane markings vs. lane-centering by tracking current lane lines. openpilot maintains a safe following distance
Openpilot
Electronic systems that help a vehicle driver while driving or parking
collisions, alert drivers to possible obstacles, warn of lane departure, assist in lane centering, incorporate satellite navigation, provide traffic warnings
Advanced driver-assistance system
Advanced_driver-assistance_system
Mechanism designed to warn a driver when the vehicle begins to move out of its lane
vehicle stays in its lane Lane centering assist (LCA): Systems which assist in oversteering, keeping the car centered in the lane, and asking the driver
Lane_departure_warning_system
Cruise control advanced driver-assistance system
vehicle autonomy. When combined with steering assistance features such as lane centering, the system may qualify as Level 2 automation. Adaptive cruise control
Adaptive_cruise_control
Compact crossover SUV
get adaptive cruise control and lane centering. Top-of-the-line Limited models will receive blind-spot detection with lane-change assist plus cross-traffic
Subaru_Crosstrek
Autonomous driving system
essentially a more robust combination of adaptive cruise control (ACC) and lane centering assist (LCA). When activated, it allows the driver to do non-driving
Automated lane keeping systems
Automated_lane_keeping_systems
Suite of advanced driver-assistance system features
automatic emergency braking (AEB), adaptive cruise control (ACC), and lane centering capabilities, but Tesla and Mobileye dissolved their partnership that
Tesla_Autopilot
Vehicle operated with reduced or no human input on public roads
emergency brake assist, automatic emergency brake assist, lane-keeping, and lane centering. ADASs that are considered Level 2 are highway assist, autonomous
Self-driving_car
Lane in which traffic may travel in either direction
A reversible lane, also known as variable lane, dynamic lane, and tidal flow, is a managed lane in which traffic may travel in either direction, depending
Reversible_lane
Compact sedan
Cruise Control (ACC) with Stop & Go, Lane Departure Warning (LDW), Lane Departure Prevention (LDP), Lane Centering Control, Traffic Sign Information (TSI)
Proton_S70
Battery electric full-size luxury liftback
and automated features, including adaptive cruise control, lane centering, automatic lane changing, automated emergency braking, avoidance assist (for
Mercedes-Benz_EQS
Part of a carriageway meant for a single line of vehicles
least two lanes, one for traffic in each direction, generally separated by lane markings. On multilane roadways and busier two-lane roads, lanes are generally
Lane
1939 exhibit by General Motors
Magic Motorways, these vehicles are supposed to be equipped with lane centering and lane change/blind spot assist systems), power plants, farms for artificially
Futurama (New York World's Fair)
Futurama_(New_York_World's_Fair)
Mid-size luxury crossover SUV
blind-spot information system with cross-traffic alert, lane-keeping system, lane centering, reverse camera, and auto high-beams. Reverse Brake Assist
Lincoln_Aviator
Autonomous car-maneuvering system
an autonomous car-maneuvering system that moves a vehicle from a traffic lane into a parking spot to perform parallel, perpendicular, or angle parking
Automatic_parking
Thought experiment
the tunnel a child attempts to run across the road but trips in the center of the lane, effectively blocking the entrance to the tunnel. The car has but
Tunnel_problem
Mid-size crossover SUV
adaptive cruise control system was also updated, with lane centering assist instead of the previous lane keep assist. Touring models also received an optional
Subaru_Ascent
Minivan
ProPilot technology, which does lane centering. The system is designed for highway use, and will only be used in single-lane traffic as a means to keep a
Nissan_Serena
American actor (born 1956)
Nathan Lane (born Joseph Lane; February 3, 1956) is an American actor. Known for his versatile roles on stage and screen, he has received numerous accolades
Nathan_Lane
American actress (born 1965)
Diane Lane (born January 22, 1965) is an American actress. She has starred in numerous leading lady and supporting roles in a huge variety of films ranging
Diane_Lane
Mass shooting in Ohio, U.S.
with several victims. Lane used a .22 caliber handgun. Lane was soon arrested by police near his car parked outside the school. Lane was ultimately indicted
2012 Chardon High School shooting
2012_Chardon_High_School_shooting
Christopher L.; Cheok, Ka Chai & Radovnikovich, Micho, "Lane keeping system and lane centering system", issued 2015-11-10 Song, Dandan; Yang, Tao (2012)
Cornering_brake_control
Group of vehicles travelling separately but following another
one meter apart in its center.[citation needed] The car senses the spikes to measure its speed and locate the center of the lane. Furthermore, the spikes
Platoon_(automobile)
Australian murderer
salaciousness of her sex life centering around numerous rugby players from The Manly Marlins club over which Robert Lane presided. The evidence heard at
Keli_Lane
Road lane intended for buses and other transits only
A bus lane or bus-only lane is a lane restricted to buses, generally to speed up public transport that would be otherwise held up by traffic congestion
Bus_lane
Not-for-profit integrated health system
hospital building. In 1986, Franklin Medical Center in Greenfield joined Baystate Health; in 1999, Baystate Mary Lane Hospital in Ware joined the health system
Baystate_Health
American business executive (born 1946)
Raymond J. Lane (born December 26, 1946) is an American business executive and strategist specializing in technology and finance. Lane is best known for
Raymond_J._Lane
American white supremacist and criminal (1938–2007)
David Eden Lane (November 2, 1938 – May 28, 2007) was an American neo-Nazi and a co-founder of the white supremacist organization The Order. For his actions
David Lane (white supremacist)
David_Lane_(white_supremacist)
United States. Now situated in the Gates-Hillman Center, CBD was established in 2007 as the Lane Center for Computational Biology by founding department
Carnegie Mellon University Computational Biology Department
Carnegie_Mellon_University_Computational_Biology_Department
Restricted traffic lane
vehicle lane (also known as an HOV lane, carpool lane, diamond lane, 2+ lane, and transit lane or T2 or T3 lanes) is a restricted traffic lane reserved
High-occupancy_vehicle_lane
Fictional street in Desperate Housewives
Wisteria Lane is a fictional street at the center of U.S. television drama series Desperate Housewives. Desperate Housewives storylines primarily center on
Wisteria_Lane
American diplomat and publisher (1919–2010)
Laurence William Lane Jr. (November 7, 1919 – July 31, 2010) was an American magazine publisher, diplomat, and philanthropist. Lane was born November 7
Bill_Lane_(diplomat)
Upscale bowling brand operated by Lucky Strike Entertainment Corporation
Bowlmor Lanes is an upscale brand of ten-pin bowling and entertainment centers operated by Lucky Strike Entertainment Corporation. As of 2026, one center in
Bowlmor_Lanes
American historian
Emeritus at Stanford University and the former director of the Bill Lane Center for the American West. Kennedy's scholarship is notable for its integration
David_M._Kennedy_(historian)
American historian (born 1939)
"Virtual Author Event: Richard Rothstein on the Color of Law | the Bill Lane Center for the American West". Rothstein, Richard (November 10, 1999). "LESSONS;
Richard_Rothstein
American rock singer (1964–2011)
Jani Lane (/ˈdʒeɪni/ JAY-nee; born John Kennedy Oswald; February 1, 1964 – August 11, 2011) was an American singer and the lead vocalist, frontman, lyricist
Jani_Lane
Public school in Elmira, Lane County, Oregon, United States
West Lane Technology Learning Center is an online charter school in Elmira, Oregon, United States. It is located on the campus of Elmira High School.
West Lane Technology Learning Center
West_Lane_Technology_Learning_Center
American actor and dancer
Lane Napper (born June 22, 1967) is an American actor, choreographer, dancer, acting coach, and dance teacher. Lane Napper has his personal acting school
Lane_Napper
University in Pittsburgh, Pennsylvania, US
Stephanie Lane Computational Biology Department, one of the seven departments in the School of Computer Science, was established in 2007 (as Lane Center for
Carnegie_Mellon_University
Lane on a multi-lane highway or motorway closest to the median of the road
A passing lane (North American English), overtaking lane (English outside North America) is a lane on a multi-lane highway or motorway closest to the median
Passing_lane
American judge (born 1991)
Kathleen Smithgall Lane (born October 16, 1991) (known professionally as Katie Lane, formerly known professionally as Katie Smithgall) is an American lawyer
Katie_Lane
traffic lane End of heavy traffic lane Bus lane Bus and taxi lane Car-pool lane End of bus lane End of bus and taxi lane End of car-pool lane Bus stop
Road_signs_in_Norway
Fictional character in the Superman series
Lois Lane is a fictional character appearing in American comic books published by DC Comics. Created by writer Jerry Siegel and artist Joe Shuster, she
Lois_Lane
Bridge in Philadelphia, Pennsylvania
Historic Places. National Park Service. April 15, 2008. "Moving the Centering of the Walnut Lane Arch at Philadelphia", Engineering News, Vol. 58, no. 7, p. 169
Walnut_Lane_Bridge
American translator (1921–2004)
Helen Lane (1921 – August 29, 2004) was an American translator of Spanish, Portuguese, French and Italian language literary works into English. She translated
Helen_Lane
1967 single by the Beatles
"Penny Lane" is a song by the British rock band the Beatles that was released as a double A-side single with "Strawberry Fields Forever" in February 1967
Penny_Lane
Building complex in downtown Calgary, Alberta, Canada
housed on the site of the former Penny Lane Mall, originally intending to keep the historic name as "Penny Lane Towers", the project has since been renamed
Eighth_Avenue_Place
Public school district in Minnesota, US
(Golden Valley) Northport Elementary (Brooklyn Center) Zachary Lane Elementary (Plymouth) FAIR School Pilgrim Lane (Plymouth) Robbinsdale Spanish Immersion
Robbinsdale Public School District
Robbinsdale_Public_School_District
American government official (born 1953)
Coalition for Green Capital and the Advisory Council of Stanford's Bill Lane Center for the American West. During the 2007–2008 academic year, Hayes was
David_J._Hayes
Oregon community college
Lane Community College is a public community college in Eugene, Oregon, with additional facilities in downtown Eugene, Florence, Cottage Grove, and the
Lane_Community_College
Guatemalan actor (born 1985)
Comedy Central's Alternatino with Arturo Castro, a sketch comedy show centering on life as a modern Mestizo man. The show premiered in June 2019 and ran
Arturo Castro (Guatemalan actor)
Arturo_Castro_(Guatemalan_actor)
Global automotive chain
Quick Lane Tire and Auto Center is a global automotive chain that provides oil changes, tire rotation, multi-point inspections and other express services
Quick_Lane
distribution center of fruit. There were also many fruit stores along the bank. So, Qingguo Lane also has an old name, which is Qianguo Lane. After many
Qingguo_Lane
Japanese manga series
Rumi Okubo Belfast Voiced by: Yui Horie The manga is written by Tsuchii, centering around characters based on British Queen Elizabeth-class battleships,
Azur_Lane_Queen's_Orders
Filipino-American professional wrestler (born 1988)
Allyssa Lyn Lane (born May 20, 1988) is an American professional wrestler. She is signed to All Elite Wrestling (AEW) and Ring of Honor (ROH), where she
Lacey_Lane
American computational biologist
Murphy is an American computational biologist. He is the Ray and Stephanie Lane Professor of Computational Biology Emeritus at Carnegie Mellon University
Robert F. Murphy (computational biologist)
Robert_F._Murphy_(computational_biologist)
American football coach (born 1975)
Lane Monte Kiffin (born May 9, 1975) is an American football coach who is the head coach of the LSU Tigers. He served as the head coach of the Oakland
Lane_Kiffin
Bridge in Maryland, U.S., spanning the Chesapeake Bay
The Gov. William Preston Lane Jr. Memorial Bridge (informally called the Chesapeake Bay Bridge and, locally, the Bay Bridge) is a major dual-span bridge
Chesapeake_Bay_Bridge
American boxing referee (1937–2022)
Mills Bee Lane III (November 12, 1937 – December 6, 2022) was an American boxing referee and professional boxer, a two-term Washoe County, Nevada district
Mills_Lane
American actor (born 1987)
Ryan Thomas Lane (born November 23, 1987) is an American actor. Beginning his professional career at the age of nineteen, Lane is best known for his portrayal
Ryan_Lane
Public secondary magnet school in Chicago, Illinois, US
Lane Tech College Prep High School (often shortened to Lane Tech, full name Albert Grannis Lane Technical College Preparatory High School), is a public
Lane Tech College Prep High School
Lane_Tech_College_Prep_High_School
American comedian and actor (1956–2022)
Robert Lane Saget (May 17, 1956 – January 9, 2022) was an American stand-up comedian, actor, director, and television host. He portrayed Danny Tanner on
Bob_Saget
Type of bowling
bowling in which a bowler rolls a bowling ball down a wood or synthetic lane toward ten pins positioned evenly in four rows in an equilateral triangle
Tenpin_bowling
Diane Lane is an acclaimed American actress who made her motion picture debut in George Roy Hill's 1979 film A Little Romance. Lane would earn critical
List of Diane Lane performances
List_of_Diane_Lane_performances
U.S. Army investigations of psychic phenomena
by various code names — including "Gondola Wish", "Grill Flame" and "Center Lane" under INSCOM, "Sun Streak" and "Star Gate" under the DIA, "Star Gate"
Stargate Project (U.S. Army unit)
Stargate_Project_(U.S._Army_unit)
American bull rider (1963-1989)
Lane Clyde Frost (October 12, 1963 – July 30, 1989) was an American professional rodeo cowboy who specialized in bull riding, and competed in the Professional
Lane_Frost
Competitive bowling event
across two lanes, switching lanes after every frame. This way the bowlers on each team are equally exposed to favorable or unfavorable lane conditions
Bowling_league
2020 police murder in Minneapolis, Minnesota, US
other police officers, J. Alexander Kueng and Thomas Lane, assisted Chauvin in restraining Floyd. Lane had also pointed a gun at Floyd's head before he was
Murder_of_George_Floyd
Stadium in London, England
club Tottenham Hotspur, replacing the club's previous ground, White Hart Lane. With a seating capacity of 62,850, it is the third largest football stadium
Tottenham_Hotspur_Stadium
American cultural figure
Pennie Ann Trumbull (born July 3, 1954), also known as Pennie Lane, is an American socialite, philanthropist, businesswoman, and entrepreneur. During the
Pennie_Lane_Trumbull
Location-based entertainment operator
States, Canada and Mexico. The centers have an average of 40 lanes compared to the U.S. bowling center average of 21 lanes. As of September 2019, Lucky
Lucky Strike Entertainment Corporation
Lucky_Strike_Entertainment_Corporation
Public research university in Colorado, US
University Hall, the Lane Center for Academic Health Sciences, and the William J. Hybl Sports Medicine and Performance Center. The Hybl Center combines academics
University of Colorado Colorado Springs
University_of_Colorado_Colorado_Springs
2008 mass shooting in Illinois, U.S.
The Lane Bryant murders was an incident of mass murder at a Lane Bryant clothing outlet in the Brookside Marketplace in Tinley Park, Illinois, United States
Lane_Bryant_murders
American plus-size clothing retailer
Lane Bryant Inc. is an American women's apparel and intimates specialty retailer focusing on plus-size clothing. The company began in 1904 with maternity
Lane_Bryant
Library in Chicago, Illinois
the closure, between 60th and 67th streets, of South Cornell Drive, a 6-lane thoroughfare that runs along the western park lagoon and the park's golf
Barack Obama Presidential Center
Barack_Obama_Presidential_Center
Type of traffic lane
counterflow lane or contraflow lane is a lane in which traffic flows in the opposite direction of the surrounding lanes. Contraflow lanes are often used
Contraflow_lane
American ballet dancer (born 1984)
Sarah Lane (born August 3, 1984) is an American ballet dancer. She was a principal dancer with American Ballet Theatre (ABT). Lane served as a "dance double"
Sarah_Lane
Facility for the sport of bowling
Hotel's bowling alley had opened, with three lanes. Instead of wood, this indoor alley used clay for the bowling lane. By 1850, there were more than 400 bowling
Bowling_alley
Expressway or freeway with only one lane in each direction
A two-lane expressway or two-lane freeway is an expressway or freeway with only one lane in each direction, and usually no median barrier. It may be built
Two-lane_expressway
American actress and writer
Janette Lane Bradbury (born June 17, 1938) is an American actress and writer. Lane Bradbury was born in Buckhead, Georgia. She studied ballet as a young
Lane_Bradbury
Theological college in Ohio, United States
Lane Seminary, sometimes called Cincinnati Lane Seminary, and later renamed Lane Theological Seminary, was a Presbyterian theological college that operated
Lane_Seminary
American film by Jan Komasa
dystopian political thriller film directed by Jan Komasa and starring Diane Lane, Kyle Chandler, Madeline Brewer, Zoey Deutch, Phoebe Dynevor, Mckenna Grace
Anniversary_(2025_film)
English tennis player
Elsie Lane was an English tennis player active during the last decade of the 19th century and the first decade of the 20th century. She was the daughter
Elsie_Lane
School district affiliated with Folsom and Rancho Cordova, California
independent study school Cordova Lane Elementary School (Opened in 1960, school closed in 2010 and transformed to Cordova Lane Center) Folsom Lake High School
Folsom Cordova Unified School District
Folsom_Cordova_Unified_School_District
American actor and writer
Nathan Lane is an American actor known for his performances on stage and screen. He is mostly recognised for his theatre roles on and off Broadway including
Nathan Lane on screen and stage
Nathan_Lane_on_screen_and_stage
Slot-guided powered model car
runs on a separate lane with its own guide-slot (though recently developed digital technology can allow cars to share and change lanes). The challenge in
Slot_car
Road at a junction which allows turning vehicles to bypass the intersection
design, a slip lane is a road at a junction that allows road users to change roads without actually entering an intersection. Slip lanes are helpful for
Slip_lane
Neighborhood of Philadelphia in Philadelphia, Pennsylvania
Olney-Oak Lane, Philadelphia, is a section of Philadelphia that is immediately north of North Philadelphia and south of Cheltenham. It is an area that
Olney-Oak_Lane,_Philadelphia
Skyscraper in Manhattan, New York
One World Trade Center, also known as One WTC and the Freedom Tower, is the main building of the rebuilt World Trade Center complex in Lower Manhattan
One_World_Trade_Center
White-supremacist slogans
David Eden Lane, one of nine founding members of the defunct white supremacist terrorist organization The Order, and are accompanied by Lane's "88 Precepts"
Fourteen_Words
1996 film by Mike Nichols
itself an adaptation of a 1973 play. It stars Robin Williams and Nathan Lane as Armand and Albert Goldman, a gay couple whose son Val (Dan Futterman)
The_Birdcage
Office skyscraper in Manhattan, New York
The Continental Center is an office skyscraper at 180 Maiden Lane in the Financial District of Manhattan, New York City. Built in 1983 and designed by
Continental Center (New York City)
Continental_Center_(New_York_City)
Street in Gdańsk, Poland
Długa Street (Polish: ulica Długa; German: Langgasse), known as the Long Lane, is one of the most notable tourist attractions in the city of Gdańsk, in
Długa_Street,_Gdańsk
Former football stadium of Tottenham Hotspur
White Hart Lane was a football stadium in Tottenham, North London and the home of Tottenham Hotspur from 1899 to 2017. Its capacity varied over the years;
White_Hart_Lane
1971 film by Monte Hellman
Two-Lane Blacktop is a 1971 American road film directed and edited by Monte Hellman, from a screenplay by Rudy Wurlitzer and Will Corry. It stars musicians
Two-Lane_Blacktop
American comic book series, 1958–1974
Girl Friend, Lois Lane is an American comic book series published monthly by DC Comics. The series focusing on the adventures of Lois Lane began publication
Superman's Girl Friend, Lois Lane
Superman's_Girl_Friend,_Lois_Lane
American football stadium on the Virginia Tech campus in Blacksburg, VA, US
Lane Stadium is a college football stadium in the eastern United States, located on the campus of Virginia Polytechnic Institute and State University (Virginia
Lane_Stadium
Suspension bridge in Rishikesh, Uttarakhand
the Ganges River. It is the first three-lane bridge in Rishikesh side lane for two-wheelers and a center lane for pedestrians. The bridge connects the
Janaki_Setu
American football player (born 1990)
David Lane Johnson (born May 8, 1990) is an American professional football offensive tackle for the Philadelphia Eagles of the National Football League
Lane_Johnson
LANE CENTERING
LANE CENTERING
Female
German
 Short form of German Helene, possibly LENE means "torch." Compare with another form of Lene.
Boy/Male
German, Spanish
Famous Land
Male
English
 English name derived from the Old French word lance, LANCE means "lance (the weapon)." Compare with another form of Lance.
Female
Russian
 Short form of Russian Svetlana, LANA means "light." Compare with other forms of Lana.
Female
Hawaiian
Hawaiian name LANI means "heaven, sky."
Surname or Lastname
English
English : variant of Lind 2 and Line 1.Irish : variant of Lane 2.Scottish : habitational name from places so named in Ayrshire, Peebles-shire, and Wigtownshire.
Girl/Female
English American
Path; roadway.Lane and Laine.
Surname or Lastname
English
English : variant of Lane.
Boy/Male
Australian, British, Christian, English
Pond; Lake
Girl/Female
English American
Path; roadway.Lane and Laine.
Surname or Lastname
English
English : variant spelling of Lane.
Boy/Male
American, Anglo, Australian, British, Chinese, Christian, Danish, English, French, German, Jamaican, Latin
Land; A Lance; A Light Spear
Male
English
Variant spelling of English Lane, LAYNE means "lives by the lane."Â
Surname or Lastname
English
English : topographic name for someone who lived in a lane, Middle English, Old English lane, originally a narrow way between fences or hedges, later used to denote any narrow pathway, including one between houses in a town.Irish : reduced Anglicized form of Gaelic Ó Laighin ‘descendant of Laighean’, a byname meaning ‘spear’, or ‘javelin’.Irish : reduced Anglicized form of Gaelic Ó Luain ‘descendant of Luan’, a byname meaning ‘warrior’.Irish : reduced Anglicized form of Gaelic Ó Liatháin (see Lehane).Southern French : variant of Laine.Possibly also a variant of Southern French Lande.
Female
English
Short form of French Éliane, LIANE means "sun."Â
Boy/Male
German, Italian
Land; Form of Lance
Male
English
English name derived from the vocabulary word, from Latin lacus, LAKE means "pond, lake."
Male
French
 Old French form of German Lanzo, LANCE means "land." Compare with another form of Lance.
Girl/Female
English
Path; roadway.Lane and Laine.
Girl/Female
American, Australian, British, English
Path; Diminutive Form of Lane or Elaine; Roadway
LANE CENTERING
LANE CENTERING
Girl/Female
Muslim
Boy/Male
Native American
Chief.
Girl/Female
Hindu, Indian
A Nakshatra
Girl/Female
Hindu, Indian, Marathi
One who has No Enemies; Shiva
Biblical
a flea; the fruit of a moth
Girl/Female
Hindu, Indian, Traditional
Flow; Sated with Drink
Girl/Female
Muslim/Islamic
Prestige self respect
Girl/Female
Australian, Greek
Pleasantness
Male
French
Variant spelling of Norman French Reynaud, RENAUD means "wise ruler."
Boy/Male
Australian, Dutch, Scandinavian
Rules the Home; Home Ruler
LANE CENTERING
LANE CENTERING
LANE CENTERING
LANE CENTERING
LANE CENTERING
n.
A series or succession of ancestors or descendants of a given person; a family or race; as, the ascending or descending line; the line of descent; the male line; a line of kings.
v. t.
To make or furnish with cane or rattan; as, to cane chairs.
n.
A measuring line or cord.
n.
A lane. See Loanin.
n.
A lance or dart made of cane.
v. t.
To beat with a cane.
v. t.
To form into a line; to align; as, to line troops.
n.
That which was measured by a line, as a field or any piece of land set apart; hence, allotted place of abode.
v. i. & t.
To become lank; to make lank.
a.
An ideal surface, conceived as coinciding with, or containing, some designated astronomical line, circle, or other curve; as, the plane of an orbit; the plane of the ecliptic, or of the equator.
n.
Ground, in respect to its nature or quality; soil; as, wet land; good or bad land.
v. i.
To be fastened with a lace, or laces; as, these boots lace.
n.
Urine. See Lant.
a.
Smooth; as, the lene breathing.
n.
A private lane, or one opening out of the usual road.
v. t.
To lade, dip, or pour out.
v. t.
To make lame.
n.
The equator; -- usually called the line, or equinoctial line; as, to cross the line.
v.
Continuing or doing until an advanced hour of the night; as, late revels; a late watcher.
v. t.
To read or repeat line by line; as, to line out a hymn.