Patent ID: 7216023

Claim:
A lane keeping assist device for a vehicle comprising: a steering control means operated in accordance with an operation of a steering wheel by an operator for controlling a steering state in accordance with traveling state of the vehicle on a road; a detection means for lane of travel for detecting a lane mark indicating the lane of travel based on continuous images of the road captured by an image capturing means; a navigation system for detecting information of a road configuration including positional coordinates by a predetermined distance in the direction the vehicle traveling in; a state detection means for detecting the steering state and the traveling state of the vehicle; a vehicle state amount calculation means for calculating a state amount of the vehicle in accordance with the steering state and the traveling state of the vehicle and detected result of the detection means for lane of travel; a first road curvature calculation means for calculating a first road curvature in the direction the vehicle traveling in on the basis of detection result of the state detection means and calculation result of the vehicle state amount calculation means; a second road curvature calculation means for calculating a second road curvature in the direction the vehicle traveling in on the basis of the positional coordinates by the predetermined distance in the direction the vehicle traveling in detected by the navigation system; a road curvature estimation means for estimating road curvature in the direction the vehicle traveling in on the basis of calculation result of the first road curvature calculation means and calculation result of the second road curvature calculation means; and a target state amount setting means for setting a target state amount relative to the vehicle on the basis of the traveling state and the steering state of the vehicle detected by the state detection means and the road curvature estimated by the road curvature estimation means; wherein travel of the vehicle in the lane of travel is assisted in accordance with comparison result between the target state amount set by the target state amount setting means and the state amount calculated by the vehicle state amount calculation means.