06269308 is referenced by 189 patents and cites 7 patents.

In a safety running system, a transverse travelling distance resulting when a subject vehicle travels to a current position of an oncoming vehicle is calculated based on the vehicle velocity and yaw rate of the subject vehicle, a relative transverse distance of the oncoming vehicle relative to a vehicle body axis of the subject vehicle is calculated based on a relative distance, relative velocity and relative angle between the subject vehicle and the oncoming vehicle detected by a radar information processor. When a relative transverse deviation obtained by subtracting the transverse travelling distance from the relative transverse distance resides within a range and that state continues to exist over a predetermined time period, it is judged that there is a collision possibility of the subject vehicle with the oncoming vehicle, and automatic steering is performed so as to avoid a collision.

Title
Safety running system for vehicle
Application Number
9/377105
Publication Number
6269308 (B1)
Application Date
August 19, 1999
Publication Date
July 31, 2001
Inventor
Yoichi Sugimoto
Saitama
US
Tomoyuki Shinmura
Saitama
US
Kenji Kodaka
Saitama
US
Agent
Arent Fox Kintner Plotkin & Kahn PLLC
US
Assignee
Honda Giken Kogyo Kabushiki Kaisha
US
IPC
B60R 21/00
View Original Source