Advanced Driving Assistant Systems (ADAS), intelligent and autonomous vehicles have the aim to improve road safety, traffic issues and the comfort of passengers. For this purpose, lane detection and lane keeping (LK) systems are important challenges. This thesis has been focused on the implementation of a model that is able to compute information necessary to develop a lane keeping function for an autonomous driving vehicle. The model is composed by lane detection, trajectory generation and lane keeping control and it has been realized with environment data coming from a camera, that is the most frequently sensor used to implement this type of applications.