Patent ID: 8554438

Claim:
A vehicular lane departure prevention control apparatus comprising: road information detecting means for detecting at least roadside obstacle information and lane line information; departure amount calculating means for calculating a departure amount with respect to a roadside obstacle and a departure amount with respect to a lane line based on the roadside obstacle information and the lane line information; braking force control means for controlling braking means by calculating a braking force for generating a yaw moment and a deceleration to a subject vehicle so as to prevent the departure of the subject vehicle with respect to the roadside obstacle based on the departure amount with respect to the roadside obstacle and the departure of the subject vehicle with respect to the lane line based on the departure amount with respect to the lane line; and pump motor rotation speed control means for calculating a resultant departure level, for target pump motor rotation speed control, as a function of a plurality of individual departure levels including an individual departure level based on the departure amount with respect to a roadside obstacle, and an individual departure level based on the departure amount with respect to a lane line; for setting a target rotation speed of a pump motor of the braking means based on the resultant departure level; and for variably controlling the rotation speed of the pump motor based on the resultant departure level.