A lane deviation avoidance assistance device and lane departure avoidance assistance method

摘要

A lane departure avoidance assisting apparatus (10) includes: a recognition device (16) configured to recognize a lane of a vehicle (1); a deviation detection part (21) configured to detect a deviation from the lane recognized by the recognition device (16) or a lane departure prediction; a control part (24) configured to perform a departure avoidance control for avoiding the deviation from the road at least by a steering operation; and a deviation counter part (22) configured to count a number of the deviations from the lane recognized by the deviation detecting part (21) within a predetermined period or a number of deviation predictions from the lane, the control part (24) performs the deviation avoidance control and / or an alarm output control when the number counted by the deviation counter portion (22) reaches n, where n is a natural number greater than one.