Lane departure prevention apparatus

摘要

A lane departure prevention apparatus is configured to conduct a course correction in a lane departure avoidance direction when the controller determines that there is a potential for a vehicle to depart from a driving lane. The controller combines yaw control and deceleration control to conduct departure prevention control in accordance with the lane departure condition and the running condition. Preferably, a target yaw moment in a lane departure avoidance direction is calculated which takes in consideration the running condition of the vehicle such as disturbances changing the vehicle behavior and the road surface friction coefficient of the driving lane, and a deceleration amount of a necessary minimum for suppressing a feeling of discomfort in the passengers stemming from the yaw moment provided to the vehicle is calculated based on the basis of the running condition of the vehicle.