LANE DEVIATION QUANTITY ESTIMATION DEVICE

PROBLEM TO BE SOLVED: To provide a lane deviation estimation device capable of rapidly and accurately estimating a deviation quantity while adapting a simple structure. SOLUTION: When all determinations in steps S21-S24 are Yes, a lane deviation quantity estimation part 38 calculates a yaw rate difference Δγ by subtracting an actual yaw rate γ from a normal yaw rate γN in a step S27. The yaw rate difference Δγ is integrated to determine a deviation angle estimated value θd(n) of vehicle at a current time in a step S28. When the current value θd(n) of the deviation angle estimation value is obtained in the step S28, the lane deviation quantity estimation part 38 calculates an estimated deviation quantity D at the current time according to the equation D=V×t×θd(n) by use of the current value θd(n) of the deviation angle estimated value, a vehicle body speed V and an integration time t in a step S29, and outputs the operation result to a control signal output part 40. COPYRIGHT: (C)2006,JPO&NCIPI