A system and an operating method are provided for supporting lane keeping of a vehicle equipped with a steering device. The system and operating method include providing vehicle related information； providing environment related information； combining vehicle and environment related information； predicting a future trajectory of the vehicle based on vehicle and environment related information； estimating a desired lateral lane position of the vehicle and/or a guiding force； comparing the future trajectory and the desired lateral lane position； deciding if a guiding force is to be provided to the steering device； and, if guiding force is to be provided, defining an amount of said guiding force depending on a hierarchically ordered set describing a predetermined driving behavior of the vehicle, adapting the amount of guiding force depending on the direction in which the vehicle is intended to move and activating one or more actuators for supplying the adapted amount of guiding force to the steering device.
