LANE DEVIATION PREVENTION DEVICE, LANE DEVIATION PREVENTION METHOD, LANE DEVIATION PREVENTION PROGRAM, AND RECORDING MEDIUM

摘要

A lane deviation prevention device that can be constructed as a navigation device. Vehicle-to-boundary distance calculation means detects, based on a road image captured by the vehicle, boundaries of the traffic lane on which a vehicle is traveling and then calculates the distances between the vehicle and the boundaries. When the vehicle-to-boundary distance calculation means detects only the boundary on one side, vehicle-to-not yet detected boundary distance calculation means calculates the distance between the vehicle and a not-yet-detected boundary based on the distance between the vehicle and the detected boundary, road information held by road information holding means, and vehicle width information held by vehicle width information holding means. Lane deviation risk detection means performs lane deviation risk detection processing for the vehicle based on the vehicle-to-boundary distance and the vehicle-to-not yet detected boundary distance. Then, warning means performs predetermined warning processing. Thus, the lane deviation prevention device can determine whether or not the vehicle is too close to the side of the not-yet-detected boundary, and as a result, even if the boundary on one side can not be detected, the lane deviation prevention device can appropriately detect lane deviation.