| 摘要 |
PROBLEM TO BE SOLVED: To provide a driving state supervisory device for vehicle that can appropriately warm a driver based on judgement result of the driving state of the driver and can prevent the reduction of warning effect that is caused by that the driver does not feel serious about the warning and feels troublesome to the warning. SOLUTION: A reference line is calculated (S12) based on a detected yaw angle YA. A 1st warning level whose degree of urgency is low because deviation quantityΔDIF1 that is calculated from lateral displacement differential quantity DYK that shows deviation from the reference line is larger than a 1st prescribed deviation quantityΔDIFLIM11 and is also a 2nd prescribed deviation quantityΔDIFIM12 or less and a 2nd warning level, in which the deviation quantityΔDIF1 is larger than the quantityΔDIFIM12 are judged (S16 and S17). At the time of the 2nd warning level, an alarm is immediately issued, and at the time of the 1st warning level, an alarm is issued when the state is continued N times (S18 and S19).
|
