| 摘要 |
PROBLEM TO BE SOLVED: To detect a vehicle entering a breakaway lane even in the case a driver omits a turn signal operation. SOLUTION: The device is provided with a section for detecting own vehicle position 1 which detects the current position and the travelling direction of an own vehicle, a map storing section 2 which stores road data representing the connective relation of a road where the own vehicle runs, a section for measuring branch distance 3 and a section for judging branch direction 4 which obtain road data existing in the travelling direction of the own vehicle from the map storing section 2 on the basis of the current position detected by the section for detecting own vehicle position 1 and detect a branch point existing in the travelling direction of the own vehicle, a section for calculating lateral position 5 and a section for judging breakaway area 6 which calculate and judge the change of the own vehicle detected by the section for detecting own vehicle position 1 at the position in front of the detected branch point, and a breakaway judging section 7 which judges the own vehicle breakaway from the road. |
