Abstract: A lane deviation prevention control device for a vehicle includes a target steering torque calculator, a friction torque estimator, and a friction compensation rate variable controller. The target steering torque calculator calculates target steering torque to be applied to a steering system of an own vehicle in a lane deviation prevention control. The friction torque estimator estimates friction torque of the steering system. The friction compensation rate variable controller performs, on the basis of steering torque produced by a driver's steering operation and on the basis of a traveling state of the own vehicle, a variable control of an addition rate at which the friction torque is added to the target steering torque to compensate friction of the steering system.

Abstract: A lane deviation prevention control device for a vehicle includes first and second target amount of turn calculators and a target amount of turn switchover determiner. The first target amount of turn calculator calculates a first target amount of turn until an arrival at a first target point. The second target amount of turn calculator calculates a second target amount of turn from the first target point to a second target point. The target amount of turn switchover determiner obtains a yaw angle estimated value until the arrival at the first target point, estimates, on the basis of the yaw angle estimated value, arrival time until the arrival at the first target point, and compares the arrival time with a threshold, to determine timing of a switchover from the first target amount of turn to the second target amount of turn.

Abstract: A lane deviation prevention control device for a vehicle includes a target yaw rate calculator, a target steering torque calculator, and an integration permission determiner. The integration permission determiner determines, on the basis of a state of an own vehicle with respect to a lane and on the basis of a state of an actual yaw rate with respect to a target yaw rate, whether or not to permit an integral control in a proportional integral differential control, in executing a feedback control on the target yaw rate by the proportional integral differential control.

Abstract: A lane deviation prevention control device for a vehicle includes an exterior information detector and a lane deviation prevention control start determiner. The lane deviation prevention control start determiner determines to start a lane deviation prevention control even when an own vehicle has already deviated from an own lane on which the own vehicle is traveling, on the condition that the exterior information detector detects an approaching vehicle that is approaching the own vehicle, on an adjacent lane on deviation side on which deviation is taking place, and that a lateral position of the own vehicle is equal to or smaller than a control start threshold.

Abstract: A lane deviation prevention control device for a vehicle includes a target yaw rate calculator, a target steering torque calculator, and an integration permission determiner. The integration permission determiner determines, on the basis of a state of an own vehicle with respect to a lane and on the basis of a state of an actual yaw rate with respect to a target yaw rate, whether or not to permit an integral control in a proportional integral differential control, in executing a feedback control on the target yaw rate by the proportional integral differential control.

Abstract: A lane deviation prevention control device for a vehicle includes a target steering torque calculator, a friction torque estimator, and a friction compensation rate variable controller. The target steering torque calculator calculates target steering torque to be applied to a steering system of an own vehicle in a lane deviation prevention control. The friction torque estimator estimates friction torque of the steering system. The friction compensation rate variable controller performs, on the basis of steering torque produced by a driver's steering operation and on the basis of a traveling state of the own vehicle, a variable control of an addition rate at which the friction torque is added to the target steering torque to compensate friction of the steering system.

Abstract: A lane deviation prevention control device for a vehicle includes first and second target amount of turn calculators and a target amount of turn switchover determiner. The first target amount of turn calculator calculates a first target amount of turn until an arrival at a first target point. The second target amount of turn calculator calculates a second target amount of turn from the first target point to a second target point. The target amount of turn switchover determiner obtains a yaw angle estimated value until the arrival at the first target point, estimates, on the basis of the yaw angle estimated value, arrival time until the arrival at the first target point, and compares the arrival time with a threshold, to determine timing of a switchover from the first target amount of turn to the second target amount of turn.

Abstract: A lane deviation prevention control device for a vehicle includes an exterior information detector and a lane deviation prevention control start determiner. The lane deviation prevention control start determiner determines to start a lane deviation prevention control even when an own vehicle has already deviated from an own lane on which the own vehicle is traveling, on the condition that the exterior information detector detects an approaching vehicle that is approaching the own vehicle, on an adjacent lane on deviation side on which deviation is taking place, and that a lateral position of the own vehicle is equal to or smaller than a control start threshold.