| 摘要 |
PROBLEM TO BE SOLVED: To warn a driver without annoying other occupants. SOLUTION: In a lane deviation warning system provided with an image pick-up means CL1 image-picking up a travel road in front of a vehicle, a lane recognition means CL2 recognizing a lane dividing means based on picked-up image, a lane deviation judgment means CL3 judging in advance that the vehicle will deviate a lane relative to the recognized lane dividing means in a state out of driver's consciousness, a warning device CL4 giving a warning to a driver based on at least advanced judgment on a lane deviation, the lane deviation judgment means CL3 judges which side the lane deviation is, left or right, and the warning means CL4 is provided with left and right vibration generation parts capable of generating a pseudo vibration simulating a vibration generated when the vehicle runs on a lane dividing means with a rough surface shape on the left or right side of the driver's body and switches generation of the pseudo vibration from the left or the right vibration generation parts according to the judgment of left or right lane deviation.
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