| 摘要 |
PROBLEM TO BE SOLVED: To provide a traffic lane departure prevention apparatus for properly preventing a departure from a traffic lane even when only a visible lane marker can be detected. SOLUTION: A candidate point number determining travel traffic lane detection by how many lane marker candidate points can be detected, is executed in a plurality of lane marker detecting areas, and when a traveling traffic lane cannot be detected by the candidate point number determining travel traffic lane detection, the travel traffic lane is detected by visibly determining travel traffic lane detection by a lane marker candidate point unhidden by a preceding vehicle. In a lane marker candidate point hidden by the preceding vehicle, the number of unhidden lane marker candidate points is evaluated by detecting a presence position of the respective lane marker candidate points, a position and the size of the preceding vehicle. When detecting the travel traffic lane by the visibly determining travel traffic lane detection, the target yaw moment being control output is set fairly small. COPYRIGHT: (C)2004,JPO
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