Patent ID: 8626391

Claim:
A lane-keeping control system calculating a look-ahead distance on the basis of a vehicle condition, and conducting a lane keeping control on the basis of the calculated look-ahead distance comprising: an estimated control entry boundary arrival time setting controller configured for setting an estimated control entry boundary arrival time to be taken by a vehicle to arrive at a control entry boundary, wherein the control entry boundary is set for entering lane-keeping control for the vehicle; a look-ahead distance calculator configured for calculating a look-ahead distance on the basis of the estimated control entry boundary arrival time and a velocity of the vehicle; a lane-keeping control entry determiner configured for determining whether to enter the lane-keeping control on the basis of the control entry boundary; a lane-keeping control torque producer configured for producing a lane-keeping control torque in a direction opposite to a lane-departure direction when it is necessary to enter the lane-keeping control as a result of the determination by the lane-keeping control entry determiner, wherein the lane-keeping control torque urges the vehicle to return to the inside of the control entry boundary; and a torque releasing controller configured for releasing the lane-keeping control torque when the vehicle has returned to the inside of a control release boundary, after the lane-keeping control torque was produced.