I have only played with it a little, but it seems to keep me pretty well centered if I activate it in the center of the lane. Not a huge fan of the lane keeping but am very pleased with the adaptive cruise. It seems smoother than any other system I have experienced. That being said, when some ******* pulls into your lane it can go into collision avoidance, so you better be ready for that. I am more concerned that I am going to get rear ended if the vehicle behind me isn't paying attention. On at least one occasion, it has been pretty aggressive on the brakes.