PSA: how to prevent lane keep assist from complaining
I struggled with lane keep assist for a good month. It worked fine but it used to complain frequently that I didn't have my hands on the steering wheel. Finally, today I figured out what is going on!
First of all, my initial assumption that it had to see my hands was completely wrong. It couldn't care less if my hands were visible! The camera watches your eyes and your eyes only! All LKA cares about is that you're "fighting" it a little bit. Basically, your hands have to provide resistance to LKA inputs every once in a while. In theory, you could attach a moderately heavy weight on one side to bias the wheel, and then you'd be able to go completely hands free (needless to say, I don't recommend it!).
All you have to do to prevent LKA from complaining is rotate the wheel slightly in either direction.