Road departure prevention devices and vehicles

Abstract

The present invention provides a road departure prevention device and vehicle capable of reducing the likelihood that the function that notifies of road departure will be turned off by the vehicle driver. [Solution] The road departure prevention device according to one embodiment of the present disclosure acquires first data indicating that the road is adjacent to a non-driving area, second data regarding the boundary between the road and the non-driving area, and third data regarding the off-road state which is the state of the non-driving area. Based on the third data, it is possible to generate simulated driving sound data based on driving sound data corresponding to the third data and output it to a sound output device.

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