Patent ID: 7580785

Claim:
A method of balancing a lane deviation prevention control system configured to generate a yaw moment in a direction in which lane deviation is avoided when a host vehicle tends to deviate from a driving lane, and a vehicle dynamics control system configured to generate a yaw moment in a direction in which a driving stability is enhanced when the driving stability of the host vehicle lowers, the method comprising: making a cooperative control between lane deviation prevention control achieved by the lane deviation prevention control system and vehicle dynamics stability control achieved by the vehicle dynamics control system, wherein the cooperative control is made to put a higher priority on a higher one of a controlled variable for the lane deviation prevention control system and a controlled variable for the vehicle dynamics control system, when a direction of yawing motion created by the lane deviation prevention control achieved by the lane deviation prevention control system is identical to a direction of yawing motion created by the vehicle dynamics stability control achieved by the vehicle dynamics control system.