Lane keep control apparatus and method for automotive vehicle

A lane keep control apparatus for an automotive vehicle, comprising:

• traveling state detecting means for detecting a traveling state of the vehicle;
• deviation determining means for determining whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the traveling state detected by the traveling state detecting means;
• deviation preventive controlling means for executing a deviation avoidance control for the vehicle in a direction to avoid the deviation according to the traveling state detected by the traveling state detecting means;
• steering angle detecting means for detecting steering angles before and after a start of the deviation avoidance control executed by the deviation preventive controlling means;
• and
• a deviation avoidance controlled variable correcting means for correcting a controlled variable of the deviation avoidance control executed by the deviation preventive controlling means on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control detected by the steering angle detecting means when the deviation determining means determines that the vehicle has the tendency of the deviation.

A lane keep control method for an automotive vehicle, comprising:

• detecting a traveling state of the vehicle;
• determining whether the vehicle has a tendency of a deviation from the traveling traffic lane according to the detected traveling state;
• executing a deviation avoidance control for the vehicle in a direction to avoid the deviation according to the traveling state;
• detecting steering angles before and after a start of the deviation avoidance control;
• and
• correcting a controlled variable of the deviation avoidance control on the basis of a deviation between a steering angle before the start of deviation avoidance control and that after the start of deviation avoidance control when determining that the vehicle has the tendency of the deviation.