A lane departure prevention apparatus is configured for reducing risk of a
vehicle while preventing lane departure. The lane departure prevention
apparatus basically comprises a lane departure tendency determining
section, a running condition determining section and a braking force
control section. The lane departure tendency determining section
determines a lane departure tendency of the host vehicle from a driving
lane. The running condition determining section determines a running
condition of the host vehicle. The braking force control section controls
a braking force to selectively produce at least one of a yaw moment on
the host vehicle in accordance with the lane departure tendency of the
host vehicle to avoid departure of the host vehicle from the driving
lane, and a deceleration on the host vehicle in accordance with the
running condition of the host vehicle.