Abstract: A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. Edge point detection means (ED) detects a plurality of edge points in a contour on an image, and segment group producing means (SD) produces a line segment on the basis of continuity of distance and direction between neighboring edge points, and groups a plurality of line segments having a predetermined relationship with each other, to produce a segment group. Further, curve detection means (CD) detects a curve fitted to the segment group. Then, when a segment group forming a curve closest to the center of the traveling lane has a predetermined length and repeated cycle, lane boundary position defining means (LD) defines the segment group as the innermost marking line, and defines a position of a neighboring curve outside of the innermost marking line as the position of the boundary of the traveling lane.

Abstract: An annunciating device for a vehicle includes a seat, a pair of support frames provided at both sides of the seat and extending in a back and forth direction or in an up and down direction of the seat, and at least two vibration generators provided side by side at an interior part of the seat for generating a vibration by reciprocating a vibrator, an operation of one of the vibration generators or both of the vibration generators being controlled, wherein the vibrator reciprocates on an axis line which does not intersect with the support frame.