Lane departure-avoidance control device for a vehicle

摘要

A lane departure prevention control apparatus for a vehicle is provided. When a vehicle lateral position (xv) is within an area (R1) on the outer side of a dead zone (D) and on a side of the lane center farther inward than a predetermined position (xth), which is a lateral position set in the vehicle width direction , a first assistance control for determining a lane departure is selected on the basis of a predicted lane departure time (Tttlc). When the vehicle lateral position (xv) is within an area (R2) on the side of the lane edge on the outer side of the predetermined position (xth), the second assistance control for determining the lane departure is based on the vehicle lateral position (xv) and a yaw angle (θyaw ) to the lane.