A lane departure prevention apparatus is provided to improve safety while
preventing lane departure. The lane departure prevention apparatus
determines whether or not the driver is holding the steering wheel
steady, determines whether or not the host vehicle has a tendency to
depart from its driving lane, and, on the basis of these determination
results, outputs a warning and performs braking control for avoiding the
lane departure of the host vehicle when the host vehicle has a tendency
to depart from its driving lane, and the driver is not holding the
steering wheel steady.