Lane departure prevention device

A lane departure prevention device comprising:

• a travelling state recognition unit configured to recognize a travelling state of a vehicle based on results of detection by an external sensor and an internal sensor of the vehicle;
• a lane line recognition unit configured to recognize lane lines of a travelling lane in which the vehicle travels based on the result of detection by the external sensor;
• a departure determination unit configured to determine whether or not the vehicle departs from the travelling lane based on the travelling state and the lane lines;
• a yaw moment calculation unit configured to calculate a target trajectory based on the travelling state and the lane lines and calculate a target yaw moment which is a yaw moment causing the vehicle to travel along the target trajectory in a case where the departure determination unit determines that the vehicle departs from the travelling lane;
• a direction determination unit configured to determine whether a departure avoidance direction which is a direction for the vehicle to approach the center of the travelling lane in a vehicle width direction is the left direction or the right direction based on a distance between the vehicle and the lane line;
• a direction alignment determination unit configured to determine whether or not a turning direction of the vehicle by the target yaw moment in the vehicle width direction coincides with the departure avoidance direction;
• and
• a braking force control unit configured to control the braking forces to the right and left wheels of the vehicle based on the target yaw moment and the results of determination by the direction alignment determination unit,
• wherein the braking force control unit is configured
• to perform a braking force control to make a difference in the braking forces to the right and left wheels of the vehicle such that the target yaw moment is generated, in a case where the direction alignment determination unit determines that the results of determinations coincide with each other, and
• not to perform the braking force control, in a case where the direction alignment determination unit does not determine that the results of determinations coincide with each other.