| 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 lane marker close to one's own vehicle 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 travel traffic lane cannot be detected by the candidate point number determining travel traffic lane detection, the travel traffic lane is detected by using significance determining travel traffic lane detection having large weight when becoming closer to the one's own vehicle. Even if the travel traffic lane is detected by a detecting method having large weight when becoming closer to the one's own vehicle, traffic lane departure prevention control is continuously executed. The travel traffic lane is detected by the significance determining travel traffic lane detection in the traffic lane departure prevention control. When detecting the travel traffic lane by the significance determining travel traffic lane detection, the target yaw moment being control output is set fairly small. COPYRIGHT: (C)2004,JPO
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