| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for warning deviation from a lane which accurately discriminates the deviation of a vehicle from the lane and warn the driver of the vehicle of the deviation by storing the coordinate data train of road markers and, at the same time, using self-contained navigation. SOLUTION: A device for warning deviation from a lane is provided with a vehicle position estimating section 14 which estimates the location of a vehicle by self-contained navigation, a road marker map memory 15 which stores the coordinate data train of road markers, a deviation detecting section 19 which detects the deviation of the vehicle from the lane by finding the deviation (d) of the vehicle from a road marker arranging line by projecting the location of the vehicle upon the arranging line and comparing the deviation (d) with a threshold d0 , and a deviation warning section 20. |
