Toyota Jidosha Kabushiki Kaisha

Kabushiki Kaisha Toyota Chuo Kenkyusho

Shinsuke Sato

Eiichi Ono

Yuji Muragishi

Atsushi Takagi

Daisuke Yamada

Yutaka Onuma

Kimiaki Ono

Takehito Sakakibara

A mower includes a mower main body and a controller. The mower main body includes a mowing blade for mowing grass. The controller identifies subsidence on a ground surface where the mower main body is not able to travel based on three-dimensional point cloud data composed of three-dimensional data of multiple positioning points in a target area, and sets a travel route of the mower main body by avoiding the identified subsidence.

Mower

A steering apparatus that by effecting a predetermined relationship between a steering wheel angle and a yaw angular velocity generated for a vehicle makes a direction &#x3b8;, seen from the view point of the driver, of a target destination point on a target course for vehicle travel after a predetermined forward gaze time, and a direction &#x3b4;of a steering wheel reference position, seen from the view point of the driver, coincide with each other. The steering apparatus can accordingly enhance the sensation of driver-vehicle togetherness, thereby enabling steering to be performed that matches driver sensation and does not cause discomfort.

Steering apparatus

It is determined whether a repeating pattern is present in an image (). When no repeating pattern is present, the image is divided into patch images, the resultant patch images are used to create a random repeating pattern, and the random repeating pattern is output (). In addition, when the number of repetitions of the repeating pattern in the image is 2&#xd7;2 or more (), the repetition period is determined by transforming pixel values into frequency coefficients, and the repeating pattern is extracted based on the result of determining the repetition period, and is output (). When the number of repetitions of the repeating pattern in the image is less than 2&#xd7;2, the repetition period is determined by performing division using local maximum values of autocorrelation coefficients, and the repetition pattern is extracted based on the result of determining the repetition period ().

Image processing system, image processing program, and image processing method

A target value for yaw angle velocity gain is computed according to a map expressing a relationship between steering wheel angle and yaw angle velocity gain predetermined such that a direction as seen from a driver of a target destination point for vehicle travel at a predetermined time after a forward gaze and a direction as seen from the driver are caused to match each other, and a steering gear ratio is controlled accordingly. A target value for a steering wheel torque corresponding to the detected steering wheel angle and the acquired yaw angular velocity is set, based on a relationship between yaw angular velocity and resistance-feel level predetermined such that the resistance feel level for a driver monotonically increases with increasing yaw angular velocity. Control is then preformed so as to realize the steering wheel torque target value.

Steering apparatus, steering method, and computer readable storage medium

In a roll control system in a vehicle adapted to suppress the rolling of the vehicle body along with an increase of the rate of change of the lateral acceleration of the vehicle body estimated from vehicle speed and steering angle velocity, a side sliding of the vehicle relative to the road surface is detected, and if the steering angle is opposite to the turning direction of the vehicle when a side sliding is detected, the roll suppressing operation of the roll control system is attenuated to avoid an augmentation of the rolling by the roll control.

Growing community of inventors

Toyota, Japan

Shinsuke Sato