Patent ID: 8258935

Claim:
A deviation detection and warning device, to be mounted on a vehicle, which detects a risk of the vehicle deviating from a driving lane of the vehicle, and instructs a warning means to supply a warning to a driver of the vehicle, comprising: lane boundary line detection means that detects a lane boundary line as a boundary of the driving lane, on which the vehicle is running, in image data of an area in a driving direction of the vehicle; deviation judgment means that detects an approaching speed of the vehicle toward the detected lane boundary line, and judges a probability of the vehicle deviating from the driving lane based on the detected approaching speed; warning instruction means that instructs a warning means to warn about the possible deviation to the driver of the vehicle when the probability of the vehicle deviating from the driving lane is higher than a predetermined reference value; obstacle detection means that detects an obstacle which is present in the driving direction of the vehicle; operation detection means that detects an operation of the driver of the vehicle to deviate from the driving lane; and suppression means that suppresses the warning instruction means from instructing the warning means to supply a warning to the driver when the obstacle detection means detects the obstacle and the operation detection means detects the operation of the driver of the vehicle to allow the deviation of the vehicle from the driving lane.