Lane departures represent an important cause of road crashes. The objective of the present study was to assess the effects of an auditory Lane Departure Warning System (LDWS) for partial and full lane departures (onset manipulation) combined with missed warnings (reliability manipulation: 100% reliable, 83% reliable and 66% reliable) on drivers' performances and acceptance. Several studies indicate that LDWS improves drivers' performances during lane departure episodes. However, little is known about the effects of the warning onset and reliability of LDWS. Results of studies which looked at forward collision warning systems show that early warnings tend to improve drivers' performances and receive a better trust judgement from the drivers when compared to later warnings. These studies also suggest that reliable assistances are more effective and trusted than unreliable ones. In the present study, lane departures were brought about by means of a distraction task whilst drivers simulated driving in a fixed-base simulator with or without an auditory LDWS. Results revealed steering behaviors improvements with LDWS. More effective recovery maneuvers were found with partial lane departure warnings than with full lane departure warnings and assistance unreliability did not impair significantly drivers' behaviors. Regarding missed lane departure episodes, drivers were found to react later and spend more time out of the driving lane when compared to properly warned lane departures, as if driving without assistance. Subjectively, LDWS did not reduce mental workload and partial lane departure warnings were judged more trustworthy than full lane departure ones. Data suggests the use of partial lane departure warnings when designing LDWS and that even unreliable LDWS may draw benefits compared to no assistance.