An automotive lane deviation prevention apparatus sets and determines a
yaw moment allotted amount corresponding to a yaw-moment-control
lane-deviation-avoidance (LDA) controlled variable used to avoid a host
vehicle's lane deviation by yaw moment control and a deceleration rate
allotted amount corresponding to a deceleration-control LDA controlled
variable used to avoid the host vehicle's lane deviation by deceleration
control, based on a host vehicle's yaw angle, when the host vehicle has a
tendency to deviate from a driving lane. A desired yaw moment is
calculated based on the yaw moment allotted amount so that a yaw moment
is produced in a direction in which the host vehicle's lane-deviation
tendency is avoided. A controlled variable for deceleration control is
calculated based on the deceleration rate allotted amount. A braking
force of each individual road wheel is controlled based on the desired
yaw moment and the controlled variable for deceleration control.