Recently, the practical application of the lane departure warning system has been advanced. However, there remain the following problems unsolved: Improvement of adaptability to a variety of weather and illumination conditions, and improvement of the driver's reaction time to the lane departure warning. With the aim of shortening the driver's reaction time to the warning, we have developed a new lane departure warning system, in which the torque is given additionally to the steering wheel so as to supply the bodily sensation to the driver.
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