A performance test method of lane departure warning system(LDWS) with Prescan software is proposed.In the process of virtual integration, the LDWS camera is located in the front of a computer monitor displaying virtual environment so as to capture pictures including lane marks and other information.Vehicle dynamic model and maneuver model run on a real-time computer,which represents a virtual vehicle, and communicates with LDWS controller with CAN bus.The results show that the method will make it easier to create various test scenarios ,which can save time and cost by transferring complex testing catalogues to the laboratory.The dangers presented in vehicle experiments in some critical scenarios can also be reduced.The repeatable model-based method makes it more convenient to locate the problem, which would make it easier to compare and assess the performance of LDWS produced by different companies objectively.