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The Lane Assist, is just that... it won’t keep you in the lane but will just “nudge” you. Never, ever, rely on it to keep you in the lane.
I tried it and it was pretty good at steering to keep the lane on the motorway even around a few alternate gradual corners. It slowly got more and more annoyed at me and nagging me to hold the steering though. Good for emergencies if you drift off to sleep. Definitely could help prevent some accidents, but not meant to be relied on.
If it's raining or the lines on the road aren't clear it doesn't always work, and the green lines displayed on the dash "driving" mode screen go grey.
 
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