Patent ID: 7693661

Claim:
A lane departure prevention system comprising: a departure determining unit for determining whether a first vehicle is tending to depart from a lane of travel; a tow detecting unit for detecting whether the first vehicle tows a second vehicle; a departure avoidance control unit for controlling the first vehicle to avoid a lane departure using a target yaw moment when said departure determining unit determines that the first vehicle is tending to depart from the lane of travel; and a correcting unit for correcting an extent of control necessary to avoid the lane departure, which is carried out by said departure avoidance control unit, when said tow detecting unit detects that the first vehicle tows the second vehicle, the correcting unit configured to supply a corrected target yaw moment to the departure avoidance control unit for control wherein the corrected target yaw moment is equal to the target yaw moment minus a corrected yaw moment based on a weight of the second vehicle.