Patent ID: 7881848

Claim:
A lane departure prevention apparatus comprising: a control section configured: to carry out a lane departure prevention control to prevent a vehicle from departing from a lane, and to finish the lane departure prevention control by using a predetermined finish parameter; a vehicle-state detecting section configured to detect a state of vehicle at least when or after the lane departure prevention control is started; a control finish-parameter correcting section configured to correct the predetermined finish parameter on a basis of the vehicle state detected by the vehicle-state detecting section; and a departure tendency expanding degree estimating section configured to estimate an expanding degree of departure tendency of the vehicle relative to the lane, on the basis of the vehicle state detected by the vehicle-state detecting section, wherein the control finish-parameter correcting section is configured to correct the predetermined finish parameter so as to elongate a time period between start and finish of the lane departure prevention control as the expanding degree of departure tendency becomes greater.