Patent ID: 8457868

Claim:
A lane keeping assist device comprising: a lateral direction displacement obtaining section configured to obtain information concerning a lateral direction displacement of a vehicle with respect to a traffic lane; a lateral direction displacement threshold value setting section configured to set a lateral direction displacement threshold value for the traffic lane in which the vehicle travels; a first control amount calculating section configured to calculate a first control amount for decreasing a lateral displacement deviation of the vehicle from the lateral direction displacement threshold value; a second control amount calculating section configured to calculate a second control amount for decreasing an angle deviation of a travelling direction of the vehicle with respect to the traffic lane; and a travelling direction controlling section configured to: control at least one of a turning angle, a turning torque, a braking/driving amount, and a braking/driving force of a road wheel, on the basis of the second control amount when the vehicle is at a center side of the lateral direction displacement threshold value in a width direction of the traffic lane, and control at least one of the turning angle, the turning torque, the braking/driving amount, and the braking/driving force of a road wheel, on the basis of at least the first control amount when the vehicle is at an outer side of the lateral direction displacement threshold value in a width direction of the traffic lane.