Lane Keeping Assist (LKA) is a driving safety function that helps drivers drive without leaving their lane. Lane Departure Prevention Assist uses the front view camera to recognize lanes, warns if lane departure is detected without movement of the turn signal switch, and automatically steers to avoid leaving the lane. Lane Following Assist (LFA) is a driving convenience feature that helps the vehicle maintain the center of the lane. During operation, it assists steering by recognizing the lane using the front view camera and by identifying the vehicle ahead when it cannot recognize the lane.