Patent ID: 7433769

Claim:
A system for preventing lane deviation of a vehicle, comprising: a steering condition parameter detecting device that detects a steering condition parameter; a lane detecting device that detects a running lane of the vehicle based on the steering condition parameter; a running condition detecting device that detects a running condition of the vehicle; a deviation judging device that judges based on the detected running lane and the detected running condition of the vehicle whether the vehicle has a tendency to deviate from the running lane; and a vehicle behavior control device that controls a behavior of the vehicle so as to iteratively generate a yaw moment in the direction to prevent the vehicle from deviating from the running lane in accordance with the detected running condition when the deviation judging device judges that the vehicle has a tendency to deviate from the running lane; wherein the lane detecting device corrects the detected steering condition parameter by a steering condition parameter equivalent to the yaw moment generated by the vehicle behavior control device in a prior iteration and detects the running lane based on the corrected steering condition parameter when the vehicle behavior control device controls a behavior of the vehicle.