Lane departure warning only alerts you when the car drifts over a lane line without the indicator. Lane keep assist also steers the car back, but only when it reaches the line. Lane centring assist steers all the time to keep the car in the middle of the lane, usually together with adaptive cruise control; that combination is what brochures call Level 2. All three need clear lane markings to work.
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Checked against source 1 on 18 Sep 2026.