The present invention relates to a method for generating a lane departure warning (LDW) by referring to information on a driving situation to be used for driver safety, vehicle-to-everything (V2X) or advanced driver assistance system (ADAS) required to satisfy level 4 and 5 of an autonomous vehicle. The method of the present invention comprises the steps of: allowing a computing device to make an LDW system (i) collect information on a driving situation including information on whether a specific point corresponding to a side mirror of a lane side, where a driver enters, is included in a virtual viewing frustum of the driver, and (ii) generate risk information on a lane change by referring the information; and allowing the computing device to make the LDW system generate an LDW by referring to the risk information. The LDW can be provided for adjacent autonomous vehicles of level 4 and 5. According to the present invention, it is possible to reduce the accident probability of a driver.
4 5 ADAS. V2X LDW METHOD AND DEVICE FOR LEARNING GENERATING LANE DEPARTURE WARNING LDW ALARM BY REFERRING TO INFORMATION ON DRIVING SITUATION TO BE USED FOR ADAS V2X OR DRIVER SAFETY REQUIRED TO SATISFY LEVEL 4 AND LEVEL 5 OF AUTONOMOUS VEHICLES