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Unintentional lane departures are the root cause for more than 1/3 of all accidents with severely injured occupants on German roads. Therefore, in recent years, Lane Departure Warning (LDW) and Lane Keeping Assistance (LKA) systems have been introduced on the market, which support the driver in lane keeping. LDW informs the driver by means of tactile, visual, and/or audible feedback if the vehicle is about to leave the lane unintentionally. LKA supports the driver by intervening in lateral vehicle control to help keep to the lane.This chapter provides a clear classification of those lateral guidance assistance systems. General requirements are provided, referring to regulations and standards as ISO 17361, ISO DIS 11270, UN ECE R-79, and Euro NCAP. Key technologies and system components of current implementations are described, e.g., environment sensors, warning algorithms, HMI for driver information, and lateral controllers. Exemplary implementations of four OEMs are described in detail. A system evaluation from customer perspective is given referring to surveys published by ADAC and Auto-Bild. Finally, an outlook is given how to further improve the achieved performance for future systems.