Lane departure warning device, lane departure warning method and program

A lane departure warning method for executing a warning when a vehicle departs or is likely to depart from a traveling lane in which the vehicle is traveling,

• wherein the method comprising:
• determining whether the vehicle is likely to depart from the traveling lane during execution of a lane keeping control that maintains the vehicle within the traveling lane, and executing a first departure warning when it is determined that the vehicle is likely to depart;
• determining, while the vehicle is traveling, whether the vehicle is likely to depart from the traveling lane, and executing a steering control that suppresses departure of the vehicle from the traveling lane and a second departure warning when it is determined that the vehicle is likely to depart;
• and
• executing priority processing during the execution of the lane keeping control, wherein the priority processing gives priority to execution of at least one of the steering control or the second departure warning over execution of the first departure warning.

A program that causes a computer of a lane departure warning device, which executes a warning when a vehicle departs or is likely to depart from a traveling lane in which the vehicle is traveling, to execute:

• a first warning process that determines, during execution of a lane keeping control for maintaining the vehicle within the traveling lane, whether the vehicle is likely to depart from the traveling lane, and executes a first departure warning when it is determined that the vehicle is likely to depart;
• a second warning process that determines, while the vehicle is traveling, whether the vehicle is likely to depart from the traveling lane, and executes a steering control to suppress departure of the vehicle from the traveling lane and a second departure warning when it is determined that the vehicle is likely to depart;
• and
• a priority process that, during execution of the lane keeping control, prioritizes execution of at least one of the steering control or the second departure warning by the second warning process over execution of the first departure warning by the first warning process.