VEHICLE DEPARTURE DETECTING DEVICE

摘要

A vehicle departure detecting device reads lane width information Winf acquired by lane division detecting means (step S1). If the value of the lane width information Winf is within the range of a predetermined variation from the lane width output value Wout_old in the previous time step, that is, (Wout_old + Wdec) or more and (Wout_old + Winc) or less, the Winf is used as it is as a lane width output value Wout (step S5 -> S9 -> S11 -> S8). However, if the value of the lane width information Winf is out of the predetermined range, that is, less than (Wout_old + Wdec), (Wout_old + Wdec) is outputted as a lane width output value Wout (step S5 -> S9 -> S10 -> S8). If the value of the lane width information Winf is over (Wout_old + Winc), (Wout_old + Winc) is outputted as a lane width output value Wout (step S5 -> S6 -> S8).