Lane departure warning device and method

An apparatus for assisting driving of a host vehicle, comprising:

• an image sensor configured to detect lane lines of a traveling lane on which the host vehicle is traveling;
• and
• a controller communicatively connected to the image sensor,
• wherein if the image sensor detects an angled region where a first lane line of both lane lines of the traveling lane is angled in an outward direction, the controller is configured to:
• determine whether the host vehicle enters into a road branch region based on information on a second lane line of the traveling lane;
• and deactivate a lane departure warning if it is determined that the host vehicle enters into the road branch region.

A method for assisting driving of a host vehicle, comprising:

• detecting lane lines of a traveling lane on which the host vehicle is traveling by using an image sensor;
• detecting a vanishing region where one of lane lines of the traveling lane vanishes by using the image sensor;
• detecting a distant lane line located opposite to the host vehicle with respect to the vanishing region by using the image sensor;
• determining whether the host vehicle enters into a road junction region based on information on the distant lane line;
• and
• deactivating a lane departure warning if it is determined that the host vehicle enters into the road junction region.

A method for assisting driving of a host vehicle, comprising:

• detecting lane lines of a traveling lane on which the host vehicle is traveling by using an image sensor;
• detecting an angled region where a first lane line of both lane lines of the traveling lane is angled in an outward direction by using the image sensor;
• determining whether the host vehicle enters into a road branch region based on information on a second lane line of the traveling lane;
• and
• deactivating a lane departure warning if it is determined that the host vehicle enters into the road branch region.