Lane departure prevention control apparatus for vehicle

A lane departure prevention control apparatus for a vehicle, the apparatus comprising:

• a traveling environment recognizer configured to recognize a traveling environment ahead of the vehicle and detect lane markers that mark left and right sides of a lane in which the vehicle is traveling on a basis of the recognized traveling environment;
• a vehicle behavior detector configured to detect behavior of the vehicle;
• a predicted departure determiner configured to predict whether the vehicle will depart from the lane markers on a basis of the left and right lane markers detected by the traveling environment recognizer and the behavior of the vehicle detected by the vehicle behavior detector;
• a control permission range setting unit configured to set a control permission range for permitting lane departure prevention control from the lane markers in a lane center direction using the left and right lane markers detected by the traveling environment recognizer as references;
• a steering torque calculator configured to transmit a drive signal corresponding to steering torque for preventing departure of the vehicle from the lane markers to a steering controller when the predicted departure determiner determines that the vehicle will depart from the lane markers and determines that the vehicle is within the control permission range set by the control permission range setting unit;
• and
• a lane shape detector configured to detect a change in a shape of the lane in which the vehicle is traveling, wherein
• the control permission range setting unit variably sets the control permission range on a basis of the change in the shape of the lane detected by the lane shape detector.