The invention provides a lane keeping assistant system security analysis method based on system theory hazard analysis, and belongs to the field of unmanned technique security engineering. The lane keeping assistant system security analysis method comprises the steps of (1) establishing a layering control structure of a lane keeping assistant system, and (2) based on the layering control structure, recognizing insecure control behaviors, and obtaining final security constraints that SC1, if a correct steering indicator is started, that is to say, the deviation direction is the same as the direction of the steering indicator, the lane keeping assistant system is not allowed to take a correction measure; SC2, if lane switching for a vehicle is conducted on the condition that the steering indicator is not correctly utilized, the lane keeping assistant system needs to give a warning to a driver and provide the correction measure; SC3, if the driver does not respond to a warning sign and continues to drive the vehicle out of a lane, the lane keeping assistant system needs to provide the correction measure. Compared with an existing security analysis method, the fault coverage area is wider, analysis is more comprehensive, and a better analysis effect is achieved with regard to modern complicated security demanding systems.