Toyota Jidosha Kabushiki Kaisha

Robert Boschgmbh

Toshifumi Sugisawa

Hironori Ito

Akira Nagae

Ryo Inomata

Masayuki Ikeda

Tomoyuki Doi

Kumiko Kondo

A lane departure prevention apparatus () has: a controlling device () configured to control a braking device () so that prevention yaw moment for preventing a vehicle from departing from a driving lane; and determining device () configured to determine whether or not slip ratio of a front wheel is larger than a first threshold value (KSfr) and whether or not slip ratio of a rear wheel is larger than a second threshold value (KSrr), the controlling device is configured to control the braking device so that the braking force applied from the braking device becomes smaller than the braking force for applying the prevention yaw moment, if it is determined that the slip ratio of the front wheel is larger than the first threshold value and/or the slip ratio of the rear wheel is larger than the second threshold value.

Lane departure prevention apparatus

Growing community of inventors

Yokohama, Japan

Toshifumi Sugisawa