The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 29, 1998
Filed:
Mar. 22, 1996
Hiroshi Sekine, Saitama, JP;
Nobuyoshi Asanuma, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
An azimuth change quantity .theta. of a road during traveling of a vehicle for a time .delta.t is calculated based on road data provided by a navigation system and a vehicle speed provided by a vehicle speed sensor (at step S3 in FIG. 2). On the other hand, an azimuth change quantity .THETA. of the vehicle is calculated by integrating a yaw rate .gamma. obtained from a yaw rate sensor over the time .delta.t (at step S5). A deviation D between the azimuth change quantity .theta. of the road and the azimuth change quantity .THETA. of the vehicle is calculated (at step S6). When the deviation D becomes equal to or larger than a reference value .beta., it is determined that there is a possibility that the vehicle will depart from the road (at step S9), and a predetermined steering torque is applied to a steering device, so that the deviation is converged into zero (at steps S10 and S11).