KR102452476B1 - Apparatus and method for generating a warning - Google Patents

Abstract

Disclosed is an apparatus for generating an alarm that warns of lane departure of a vehicle on an intersection entrance road having a plurality of sections sequentially divided according to a type of lane or the presence or absence of the lane. The warning generating device may include: an intersection entry determining unit configured to determine whether a vehicle enters an intersection based on a type of the lane and a width of the lane, and to determine a section in which the vehicle is driving among the plurality of sections; and an alarm generating/cancelling unit for determining whether to generate an alarm based on the section in which the vehicle determined to have entered the intersection by the intersection entrance determination unit is driving and whether the vehicle is laterally steered.

Description

Alarm generating device and method {APPARATUS AND METHOD FOR GENERATING A WARNING}

The present invention relates to an alarm generating apparatus and method for generating an alarm so that a vehicle entering a Chinese solid-line intersection does not deviate from a current lane.

The characteristics of intersections in China consist of a solid line after the dotted line, a stop line at the end of the solid line, a crosswalk after the stop line, and a surveillance camera above the solid line. The solid line section of Chinese intersections is 30m-70m, which is shorter than the solid line section in the tunnel or the solid line section of general roads. Therefore, it is not uncommon for Chinese drivers to change lanes inevitably after entering the solid line of an intersection, and they are subject to high stress by violating traffic laws (lane violations) and receiving demerit points or fines.

The above-mentioned background art is technical information possessed by the inventor for the derivation of the present invention or acquired in the process of derivation of the present invention, and cannot necessarily be said to be a known technique disclosed to the general public prior to the filing of the present invention.

Domestic Registered Patent Publication No. 10-1685900

The present invention has been devised to solve the above-described problems and/or limitations, and an object of the present invention according to one aspect is to generate an alarm so that a vehicle entering a Chinese solid-line intersection does not deviate from the current lane, thereby violating the lane of a Chinese driver. It's about relieving stress.

The present invention as a technical means for achieving the above object,

An alarm generating device for warning of lane departure of a vehicle on an intersection entrance road having a plurality of sections sequentially divided according to the type of lane or the presence or absence of the lane,

an intersection entry determination unit that determines whether a vehicle enters an intersection based on the type of lane and a width of the lane, and determines a section in which the vehicle is driving among the plurality of sections; and

an alarm generating/cancelling unit for determining whether to generate an alarm based on the section in which the vehicle determined to have entered the intersection by the intersection entrance determination unit is driving and whether the vehicle is laterally steered;

It provides an alarm generating device comprising a.

The intersection entry determining unit is configured to determine that the vehicle is entering the intersection when the vehicle drives a second section in which the lane does not exist after the first section in which the lane is a dotted line, and then drives in a third section in which the lane is a dotted line can do.

The intersection entry determination unit is configured to drive the third section after the vehicle enters the second section and moves a first distance, and the difference between the lane width of the first section and the lane width of the third section is within a reference value In this case, it can be determined that the vehicle is entering the intersection.

The intersection entry determining unit may determine that the vehicle enters the third section and enters a fourth section in which the lane is a solid line after moving a second distance.

The intersection entry determination unit may include, when the difference between the lane width of the first section and the lane width of the third section is within a reference value, the vehicle enters the third section and moves a second distance, after which the lane is a solid line. It can be judged that the 4th section has been entered.

The warning generating/cancelling unit may generate an alarm when the steering direction of the vehicle is changed after the intersection entry determining unit determines that the vehicle has entered the fourth section.

After the intersection entry determination unit determines that the vehicle has entered the fourth section, the warning generating/removing unit generates a first warning by changing the steering direction of the vehicle, and then again in the same direction as the first warning. If the steering direction is changed, it may not generate an alarm.

After the intersection entry determination unit determines that the vehicle has entered the fourth section, the warning generating/removing unit generates a first warning by changing the steering direction of the vehicle, and steers in the opposite direction to the first warning. If the direction is changed, a secondary alarm can be generated.

The alarm generating/removing unit may not generate an alarm when the steering direction is changed again in the same direction as the steering direction in which the secondary warning is generated after the secondary warning.

The alarm generating device of the present invention further includes an intersection entry determining unit that determines that the vehicle has entered a final section among the plurality of sections, wherein when it is determined by the intersection entry determining unit that the vehicle enters the final section, The alarm generating/cancelling unit may cancel the alarm generation.

The present invention as another technical means for achieving the above object,

A method for generating an alarm for warning of lane departure of a vehicle on an intersection entrance road having a plurality of sections sequentially divided according to a type of lane or the presence or absence of the lane,

an intersection entry determination step of determining whether the vehicle enters the intersection based on the type of the lane and the width of the lane, and determining a section in which the vehicle is driving among the plurality of sections; and

an alarm generating/cancelling step of determining whether to generate/release an alarm based on a section in which the vehicle is driving and whether the vehicle is laterally steered, determined by the intersection entry determination unit;

It provides a method for generating an alarm comprising a.

The step of determining the entrance to the intersection is

determining that the vehicle enters a second section in which the lane does not exist after the first section in which the lane is a dotted line;

comparing a difference between a lane width of the first section and a lane width of the third section when the vehicle enters the second section and travels a first distance and then drives a third section in which the lane is a dotted line; and

If the difference between the lane width of the first section and the lane width of the third section is within a reference value and the vehicle moves the second distance after entering the third section, the vehicle is deemed to have entered the fourth section in which the lane is a solid line. It may include a step of judging.

In the warning generating/cancelling step, after it is determined that the vehicle has entered the fourth section, an alarm may be generated when the steering direction of the vehicle is changed.

In the warning generating/cancelling step, after it is determined that the vehicle has entered the fourth section, the first warning is generated by changing the steering direction of the vehicle, and the steering direction is changed again in the same direction as the first warning. If it is changed, it may not generate an alarm.

In the warning generating/cancelling step, after it is determined that the vehicle enters the fourth section, the first warning is generated by changing the steering direction of the vehicle, and the steering direction is changed in the opposite direction to the first warning. If it is, a secondary alarm may be generated.

In the alarm generating/cancelling step, when the steering direction is changed again in the same direction as the steering direction in which the secondary warning is generated after the secondary warning, the alarm may not be generated.

The warning generating method of the present invention may further include the step of determining that the vehicle has entered the final section among the plurality of sections and releasing the warning.

Other aspects, features and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to embodiments, an alarm may be generated to prevent a vehicle entering a Chinese intersection from departing from a current lane, thereby reducing the stress of a Chinese driver's lane violation.

Effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram schematically illustrating characteristics of a road including an intersection in China in which an alarm generating device according to an embodiment of the present invention can be realized.
2 is a diagram schematically illustrating an alarm generating apparatus according to an embodiment of the present invention.
FIG. 3 is a diagram schematically illustrating a detailed configuration of a processor in the alarm generating device of FIG. 2 .
FIG. 4 is a diagram schematically illustrating a case in which an alarm is generated at the intersection in China of FIG. 1 .
5 and 6 are flowcharts illustrating a method for generating an alarm according to an embodiment of the present invention.

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the detailed description in conjunction with the accompanying drawings. However, it should be understood that the present invention is not limited to the embodiments presented below, but may be implemented in a variety of different forms, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. . The embodiments presented below are provided to complete the disclosure of the present invention, and to completely inform those of ordinary skill in the art to the scope of the present invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in the description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals, and overlapping descriptions thereof are omitted. decide to do

1 is a diagram schematically illustrating characteristics of a road including an intersection in China in which an alarm generating device according to an embodiment of the present invention can be realized. Referring to FIG. 1 , a road including an intersection in China may include a first section 110 to a fifth section 150 and a surveillance camera 160 . Here, the third section 130 to the fifth section 150 and the surveillance camera 160 may correspond to a Chinese intersection.

The first section 110 may include a dotted line section in which the vehicle can travel before entering the intersection, and in one embodiment, the first section 110 in FIG. 1 may include three lanes.

The second section 120 may include a blanking section in which a vehicle may travel before entering the intersection but no lanes exist, and may exist as long as a specified distance (eg, the first distance).

The third section 130 may include a dotted line section in which the vehicle can travel after entering the intersection, and may exist as long as a specified distance (eg, the second distance). The third section 130 may include a section composed of more lanes than the first section 110 , and in one embodiment, the third section 120 in FIG. 1 may include four lanes. Accordingly, the lane width of the third section 120 may be narrower than the lane width of the first section 110 .

The fourth section 140 may include a solid lane section in which the vehicle can travel after entering the intersection, and may include the same number of lanes as the third section 130 . The lane width of the fourth section 140 may be the same as the lane width of the third section 130 . Here, a surveillance camera 160 is provided in the fourth section 140 , so that when the vehicle deviates from a lane in the fourth section 140 , it is determined that the vehicle has violated traffic laws, and the license plate of the vehicle can be photographed. The end of the fourth section 140 may further include a stop line 141 for the vehicle to stop in accordance with the red light on a traffic light (not shown) located in front.

The fifth section 150 may include a crosswalk section after the stop line 141 .

FIG. 2 is a diagram schematically illustrating an alarm generating apparatus according to an embodiment of the present invention, and FIG. 3 is a diagram schematically illustrating a detailed configuration of a processor in the alarm generating apparatus of FIG. 2 . 2 and 3 , the alarm generating device 200 may include an image capturing unit 210 , a memory 220 , a processor 230 , and an alarm output unit 240 . In this embodiment, the processor 230 may include an intersection entrance determination unit 231, an alarm generating/cancelling unit 232, and an intersection exit determination unit 233, and the warning output unit 240 is an audio output unit ( 241 , a display unit 242 , and a steering wheel 243 may be included.

The image capturing unit 210 may include a camera provided in the vehicle to photograph an image frame around the vehicle. The camera refers to a camera that photographs a subject in a photographing area using, for example, a complementary metal-oxide semiconductor (COMS) module (not shown) or a charge coupled device (CCD) module (not shown), and an input image frame is provided to the COMS module or the CCD module through a lens (not shown), and the COMS module or the CCD module may convert the optical signal of the subject passing through the lens into an electrical signal and output it. An image signal processing unit (not shown) is provided inside the camera to reduce noise with respect to a photographed image frame, and perform gamma correction, color filter array interpolation, and color matrix. An image signal processing for image quality improvement such as matrix), color correction, and color enhancement may be performed. Also, the image signal processing unit may functionally perform color processing, blur processing, edge enhancement processing, image analysis processing, image recognition processing, image effect processing, and the like. As the image recognition processing, face recognition, scene recognition processing, and the like can be performed. For example, brightness level adjustment, color correction, contrast adjustment, outline enhancement adjustment, screen division processing, character image generation, and image synthesis processing may be performed.

The memory 220 may store various data and programs for controlling the alarm generating device 200 . For example, if the steering angle value around 0 is greater than 0, information indicating that the steering wheel 243 has moved in the first direction (eg, to the left), and if the steering angle value around 0 is less than 0, the steering wheel 243 Information indicating that the wheel 243 has moved in the second direction (eg, right) may be stored.

Also, the program stored in the memory 220 may include one or more instructions. In this embodiment, the program (one or more instructions) stored in the memory 220 may be accessed and executed by the processor 230 . Here, the instructions may include first to sixth instructions.

The first instruction is the intersection when the vehicle starts to enter the fourth section 140 from the third section 130 while driving on a road composed of the first section 110 to the fifth section 150 including the Chinese intersection. It may include a program that creates an entry satisfaction condition. Here, the first instruction may further include a program for calculating a lane width based on the image frame captured by the image capturing unit 210 and a program for determining the first section 110 to the fifth section 150 . .

The second instruction is when the vehicle travels in one of a first direction, a second direction, and a second direction after the first direction from the current driving lane in the fourth section 140 after the first instruction is executed It may include a program that generates an alarm triggering condition. When the alarm generation condition is satisfied by executing the second instruction, an alarm generation signal may be transmitted to the alarm output unit 240 to output an alarm.

The third instruction may include a program for generating an intersection exit condition when the vehicle starts entering the fifth section 150, and the fourth instruction includes a program for generating an alarm release condition after the third instruction is executed. can do. By executing the third and fourth instructions, the vehicle may exit the intersection and no longer output an alarm for lane departure at the intersection.

The fifth instruction generates an alarm when the vehicle travels in the first direction from the current driving lane and then travels again in the first direction, or when the vehicle travels in the second direction from the current driving lane and then travels again in the second direction. It may include a program that creates a release condition. Here, when the vehicle drives in the same direction twice in the current lane, one warning signal is generated, and when the vehicle drives in the first direction from the current lane and then drives in the second direction, two warning signals may be generated. . Thereafter, it may be determined that the change in the vehicle driving direction is the driver's will, and the alarm may no longer be generated.

In order to prevent misrecognition of the fourth section 140 , if a preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a certain distance, the sixth instruction enters the fourth section 140 based on the previous driving situation of the current vehicle. It may include a program to accurately determine Here, if there is a preceding vehicle in front of the current vehicle and the distance between the two vehicles is within a predetermined distance, an error of determining the fourth section 140 as a section with a dotted line instead of a section with a solid line may occur. Therefore, if there is a preceding vehicle in front of the current vehicle and the distance between the two vehicles is within a certain distance, the previous driving situation of the current vehicle is determined and the occurrence of the dotted line section is determined after driving the first section 110 to the third section 130 . In time, this dotted line section may be determined as a solid line of the fourth section 140 .

Such memory 220 may include internal memory and/or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory, such as NAND flash memory, or NOR flash memory, SSD. It may include a flash drive such as a compact flash (CF) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, or a memory stick, or a storage device such as an HDD.

The processor 230 may control the overall operating state of the alarm generating device 200 . The processor 230 may provide various functions by driving control software mounted in an internal memory (not shown) as a kind of central processing unit. Here, the 'processor (230)' may refer to, for example, a data processing device embedded in hardware having a physically structured circuit to perform a function expressed as a code or instruction included in a program. . As an example of the data processing device embedded in the hardware as described above, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated (ASIC) circuit) and a processing device such as a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto

In the present embodiment, the processor 230 may include an intersection entrance determination unit 231 , an alarm generating/cancelling unit 232 , and an intersection entrance determination unit 233 . Here, the processor 230 accesses the memory 220 and executes the first to sixth instructions, and the intersection entrance determination unit 231, the alarm generation/cancellation unit 232, and the intersection exit determination unit 233 and It can operate organically to generate an alarm trigger signal or an alarm release signal.

The intersection entrance determination unit 231 may access the memory 220 and determine whether the vehicle enters the intersection by executing the first instruction. The intersection entrance determination unit 231 may calculate the average lane width in real time using the image frame while driving in the first section 110 to the fifth section 150 . The intersection entry determining unit 231 may determine whether the second section 120 has no lane as a blanking section using the image frame. When the lane information is normalized after the first distance, the intersection entry determining unit 231 may determine that the vehicle has entered the third section 130 . The intersection entrance determination unit 231 determines that the difference between the lane width of the first section 110 and the lane width of the third section 130 is within a reference value (eg, between 0.3m-0.7m) and the vehicle after the second distance It may be determined that the fourth section 140 has been entered.

The alarm generating/cancelling unit 232 may generate an alarm signal by accessing the memory 220 and executing the second instruction after the execution of the first instruction. The warning generating/removing unit 232 may generate one warning signal when the vehicle travels in the first direction from the current driving lane. Also, the warning generating/removing unit 232 may generate one warning signal when the vehicle travels in the second direction from the current driving lane. Also, the alarm generating/removing unit 232 may generate two warning signals when traveling in the second direction while traveling in the first direction. Here, the alarm generation/release unit 232 accesses the memory 220 and determines that the steering wheel 243 has moved in the first direction (for example, to the left) when the steering angle value is greater than 0 based on 0, When the steering angle value with respect to 0 is less than 0, it may be determined that the steering wheel 243 has moved in the second direction (eg, to the right).

Also, the alarm generating/removing unit 232 may release the alarm signal generation by executing a fourth instruction after execution of a third instruction to be described later. That is, when the vehicle enters the fifth section 150 , the warning generating/removing unit 232 may cancel the warning signal generation.

Also, the alarm generation/cancellation unit 232 may release the alarm signal generation by executing the fifth instruction after the execution of the second instruction. That is, when the vehicle travels in the first direction from the current driving lane and then again travels in the first direction, or the vehicle travels in the second direction from the current driving lane, the alarm generating/cancelling unit 232 is configured to operate again in the second direction after driving from the current driving lane in the second direction. You can cancel the warning signal generation when driving. Furthermore, the warning generating/removing unit 232 may release the warning signal generation even when the vehicle travels in the first direction from the current driving lane, travels in the second direction, and then travels again in the first direction.

FIG. 4 is a diagram schematically illustrating a case in which an alarm is generated at the intersection in China of FIG. 1 . Referring to FIG. 4 , in FIG. 4A , when the vehicle starts to enter the fourth section 140 from the third section 130 and then drives in the first direction from the current driving lane, one warning signal may be generated. . However, when the vehicle travels in the first direction again after the warning signal is generated, the warning signal generation may be released.

In FIG. 4B , when the vehicle starts to enter the fourth section 140 from the third section 130 and then drives in the second direction from the current driving lane, one warning signal may be generated. However, when the vehicle travels in the second direction again after the warning signal is generated, the warning signal generation may be released.

FIG. 4C shows that when the vehicle starts to enter the fourth section 140 from the third section 130 and then drives in the first direction from the current driving lane and then drives in the second direction, two warning signals may be generated. . However, when the vehicle travels in the first direction again after the warning signal is generated, the warning signal generation may be released.

The intersection advance determination unit 233 accesses the memory 220 and executes the third instruction to determine whether the vehicle enters the intersection. That is, when the vehicle starts to enter the fifth section 150 , the intersection advance determination unit 233 may determine the intersection advance and release the warning signal.

In an optional embodiment, the processor 230 may access the memory 220 and execute the sixth instruction to prevent misrecognition of the fourth section 140 . If a preceding vehicle exists in front of the currently driving vehicle and the distance between the two vehicles is within a predetermined distance, an error in determining the fourth section 140 as a section with a dotted line instead of a section with a solid line may occur. Accordingly, if a preceding vehicle exists in front of the current vehicle and the distance between the two vehicles is within a predetermined distance, the processor 230 determines the previous driving situation of the current vehicle and drives the first section 110 to the third section 130 with a dotted line When determining that a section has occurred, the dotted line section may be determined as a solid line of the fourth section 140 .

In this embodiment, the image capturing unit 210 , the memory 220 , and the processor 230 may be provided in the image capturing unit 210 as one device.

The alarm output unit 240 may receive an alarm generation signal or an alarm cancellation signal transmitted from the processor 230 and output an alarm. The sound output unit 241 may output the alarm signal as a sound signal so that the driver can hear it, and the display unit 242 may output the alarm signal as a display signal so that the driver can see it, and the steering wheel 243 . can output the warning signal as a vibration signal so that the driver can feel it by touch.

5 and 6 are flowcharts illustrating a method for generating an alarm according to an embodiment of the present invention. In the following description, descriptions of parts overlapping with those of FIGS. 1 to 4 will be omitted.

Referring to FIG. 5 , in step S510 , the warning generating device 200 determines whether the vehicle enters the intersection by executing the first instruction. 6 is a flowchart illustrating a method of determining whether a vehicle enters an intersection.

Referring to FIG. 6 , in step S511 , the alert generating apparatus 200 calculates an average lane width in real time using an image frame while driving in the first section 110 to the fifth section 150 .

In step S512 , the alert generating device 200 determines whether the second section 120 has no lane as a blanking section using the image frame.

In step S513 , the alarm generating apparatus 200 enters the second section 120 and determines that the vehicle enters the third section 130 when lane information is normalized after the first distance.

In step S514 , the alarm generating device 200 determines whether a difference between the lane width of the first section 110 and the lane width of the third section 130 is within a reference value (eg, between 0.3m-0.7m). .

In step S515 , when the difference between the lane width of the first section 110 and the lane width of the third section 130 is within a reference value, the alarm generating device 200 moves the vehicle after the second distance to the fourth section 140 . judged to have entered the

Returning to FIG. 5 , in step S520 , the alarm generating device 200 generates an alarm when the alarm generation condition is satisfied by executing the second instruction.

In step S530, the alarm generating device 200 executes the third instruction to determine whether the intersection has been advanced. Here, the determination of entering the intersection may include a case in which the vehicle enters the fifth section 150 .

In step S540, the alarm generating device 200 executes the fourth instruction to cancel the alarm generation.

The embodiment according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded in a computer-readable medium. In this case, the medium includes a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM and DVD, a magneto-optical medium such as a floppy disk, and a ROM. , RAM, flash memory, and the like, hardware devices specially configured to store and execute program instructions.

Meanwhile, the computer program may be specially designed and configured for the present invention, or may be known and used by those skilled in the computer software field. Examples of the computer program may include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

In the specification of the present invention (especially in the claims), the use of the term "above" and similar referential terms may be used in both the singular and the plural. In addition, when a range is described in the present invention, each individual value constituting the range is described in the detailed description of the invention as including the invention to which individual values belonging to the range are applied (unless there is a description to the contrary). same as

The steps constituting the method according to the present invention may be performed in an appropriate order, unless the order is explicitly stated or there is no description to the contrary. The present invention is not necessarily limited to the order in which the steps are described. The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is limited by the examples or exemplary terms unless defined by the claims. it's not going to be In addition, those skilled in the art will appreciate that various modifications, combinations, and changes may be made in accordance with design conditions and factors within the scope of the appended claims or their equivalents.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and the scope of the spirit of the present invention is not limited to the scope of the scope of the present invention. will be said to belong to

200: alarm generating device
210: video recording unit
220: memory
230: processor
240: alarm output unit

Claims (17)

An alarm generating device for warning of lane departure of a vehicle in the fourth section on an intersection entrance road having first to fourth sections sequentially divided according to the type of lane or the presence or absence of the lane,
an intersection entry determining unit that determines that the vehicle is finally entering the fourth section when the vehicle sequentially enters a section in which the lane is a dotted line, a section in which a lane does not exist, and a section in which the lane is a solid line; and
and an alarm generating/cancelling unit that generates an alarm when the steering direction of the vehicle is changed after the intersection entry determination unit determines that the vehicle has entered the fourth section; and
After the intersection entry determination unit determines that the vehicle has entered the fourth section, the warning generating/removing unit generates a first warning by changing the steering direction of the vehicle, and steers in the opposite direction to the first warning. A secondary alarm is generated when the direction is changed, and the alarm is not generated when the steering direction is maintained in the same direction as the steering direction in which the secondary warning is generated after the secondary warning. The method of claim 1, wherein the intersection entry determination unit,
When the vehicle drives in a second section in which the lane does not exist after the first section in which the lane is a dotted line, and then in a third section in which the lane is a dotted line, it is determined that the vehicle is entering an intersection generating device. The method of claim 2, wherein the intersection entrance determination unit,
After the vehicle enters the second section and moves the first distance, the vehicle travels in the third section, and when the difference between the lane width of the first section and the lane width of the third section is within a reference value, the vehicle enters the intersection An alarm generating device, characterized in that it is determined that it is in progress. The method of claim 2, wherein the intersection entrance determination unit,
and determining that the vehicle has entered the fourth section in which the lane is a solid line after the vehicle enters the third section and moves a second distance. The method of claim 3, wherein the intersection entrance determination unit,
If the difference between the lane width of the first section and the lane width of the third section is within a reference value, the vehicle enters the third section and moves the second distance, and then enters the fourth section in which the lane is a solid line. An alarm generating device, characterized in that for judging. delete The method of claim 1, wherein the alarm generating/cancelling unit,
After the intersection entry determination unit determines that the vehicle has entered the fourth section, a primary warning is generated by a change in the vehicle's steering direction, and an alarm is issued when the steering direction is maintained in the same direction as the primary warning. An alarm generating device characterized in that it does not generate. delete delete According to claim 1,
Further comprising an intersection advance determination unit for determining that the vehicle enters a fifth section out of the fourth section,
The alarm generating device, characterized in that when it is determined by the intersection advance determination unit that the vehicle deviated from the fourth section, the alarm generating/cancelling unit cancels the alarm generation. In the method of generating an alarm to warn of lane departure of a vehicle in the fourth section on an intersection entrance road having first to fourth sections sequentially divided according to the type of lane or the presence or absence of the lane,
an intersection entry determination step of determining that the vehicle is finally entering the fourth section when the vehicle sequentially enters a section in which the lane is a dotted line, a section in which a lane does not exist, and a section in which the lane is a solid line; and
and, after the intersection entry determination unit determines that the vehicle has entered the fourth section, an alarm generation/release step of generating an alarm when the steering direction of the vehicle is changed; and
In the warning generating/cancelling step, after it is determined that the vehicle enters the fourth section, the first warning is generated by changing the steering direction of the vehicle, and the steering direction is changed in the opposite direction to the first warning. In the event of a second warning, a secondary alarm is generated, and after the secondary warning, when the steering direction is maintained in the same direction as the steering direction in which the secondary warning is generated, the alarm is not generated. The method of claim 11, wherein the determining step of entering the intersection comprises:
determining that the vehicle enters a second section in which the lane does not exist after the first section in which the lane is a dotted line;
comparing a difference between a lane width of the first section and a lane width of the third section when the vehicle enters the second section and travels a third section in which the lane is a dotted line after moving a first distance;
When the difference between the lane width of the first section and the lane width of the third section is within a reference value and the vehicle moves the second distance after entering the third section, the vehicle is deemed to have entered the fourth section in which the lane is a solid line. A method for generating an alert comprising the step of determining. delete 12. The method of claim 11, wherein the generating/clearing of the alarm comprises:
After it is determined that the vehicle has entered the fourth section, the first warning is generated by changing the steering direction of the vehicle, and the warning is not generated when the steering direction is maintained in the same direction as the first warning. A method for generating an alarm. delete delete 12. The method of claim 11,
and, when it is determined that the vehicle deviated from the fourth section, the warning generating/cancelling unit further comprising the step of determining whether to enter the intersection to cancel the warning generation.

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