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Recently, the field of autonomous driving has been dramatically expanding, and some of the key technologies like the Lane Keeping Assist (LKA) system have begun to be applied to mass production vehicles. In general, mass-produced LKA systems use a lane detection camera as a means of keeping the lane. One of the common limitations of camera-based LKA systems is that the lane keeping performance significantly decreases when the camera cannot detect lane markings for various reasons such as snow coverage and sunlight. To overcome this limitation, we have developed a Global Navigation Satellite System (GNSS) based LKA system, which is not affected by the surrounding environment such as weather and lighting. Our LKA system uses centimeter-level augmentation service and high-definition maps, whereby the LKA system can accurately estimate its own position.