Lane departure prevention system

A lane departure prevention system comprising:

• a traveling status detecting unit for detecting current lateral displacement and current yaw angle of a vehicle relative to a lane of travel;
• a departure detecting unit for detecting whether the vehicle is tending to depart from the lane of travel on the basis of current lateral displacement of the vehicle relative to the lane of travel as detected by said traveling status detecting unit;
• and
• a departure avoidance control unit for controlling the vehicle to avoid lane departure when said departure detecting unit detects that the vehicle is tending to depart from the lane of travel,
• a road curvature detecting unit for detecting curvature of the lane of travel;
• and
• a departure angle estimating unit for estimating the yaw angle of the vehicle with respect to the lane of travel as a departure angle after a predetermined period of time has passed, on the basis of the current yaw angle of the vehicle detected by the traveling status detecting unit and the road curvature detected by the road curvature detecting unit,
• said departure avoidance control unit calculating the extent of control necessary to avoid lane departure on the basis of the departure angle of the vehicle estimated by said departure angle estimating unit.