Patent ID: 7603215

Claim:
A lane keep control apparatus for an automotive vehicle, comprising: a deviation estimation value calculating section configured to calculate a deviation estimation value based on a position relationship between the vehicle and a traveling traffic lane; a deviation tendency detecting section configured to receive the deviation estimation value and to detect whether the vehicle has a tendency of a deviation from a traveling traffic lane based on the deviation estimation value; a yaw angle detection section configured to detect yaw angle of the vehicle with respect to the traveling traffic lane; a deviation avoidance controlling section configured to provide yaw moment to the vehicle based on the deviation estimation value until the yaw angle becomes a predetermined value, wherein the predetermined value is zero or substantially zero; and a yaw moment estimation section configured to calculate a yaw moment estimation value in a direction in which the tendency of the deviation is detected, when the deviation tendency detecting section detects the tendency of the deviation that has been made by the vehicle, wherein the deviation avoidance controlling section is configured to control yaw moment of the vehicle in order for only the yaw moment in the direction of the deviation from the traffic lane to be canceled on a basis of the yaw moment estimation value calculated by the yaw moment estimation section, after the yaw angle becomes equal to the predetermined value, so as to allow a vehicle operator to steer the vehicle back to the traveling traffic lane without any assistance from the lane keep control apparatus.