Patent ID: 7698032

Claim:
An automotive lane deviation prevention (LDP) apparatus comprising: a road-surface irregularities detector configured to detect whether a host vehicle is in a state where the host vehicle is traveling on road-surface irregularities formed on or close to a lane marking line and arranged along the lane marking line; a picture image pick-up device configured to pick up a picture image in front of the host vehicle; a lane marker detector configured to detect a lane marking line of a driving lane of the host vehicle, based on the picture image picked up by the picture image pick-up device; an actuator configured to decelerate the host vehicle; and a control unit configured to be electronically connected to the road-surface irregularities detector, the lane marker detector, and the actuator for LDP control purposes; the control unit comprising: an LDP control section configured to execute, based on the detected lane marking line, yaw moment control by which a host vehicle's lane deviation tendency is avoided, when the lane marking line can be detected by the lane marker detector; and a vehicle deceleration control section configured to execute vehicle deceleration control to actively decelerate the host vehicle, when all following conditions occur: (1) when the host vehicle is traveling on the road-surface irregularities formed on or close to the lane marking line and arranged along the lane marking line; and (2) while the lane marking line cannot be detected by the lane marker detector.