I am talking about the overall architecture to make your typical highway standard lane keeping solution.

Pretty much every manufacture now has one and they always use forward facing camera and radar in combination. Of course the radar can't see lanes, but its essential for seen if there are cars ahead and how fast they are.

All of these solution suffer from the same problem of the radar not being good to detect a stationary object. That is where you have to do more with the camera data or add some form of lidar.

I think some 1 car (Audi maybe) use solid state lidar. Tesla has switched to vision only for the most part. No company yet uses active lidar as far as I know.