Abstract: A parking control device performs parking control such that a vehicle is parked in a reserved parking area in an automatic valet parking lot including a plurality of parking areas. When the vehicle arrives at the automatic valet parking lot before an entrance time for the reserved parking area, the parking control device determines whether the reserved parking area is available. When it is determined that the reserved parking area is not available, the parking control device determines whether a temporary parking area which is an area other than the reserved parking area is available. When it is determined that the temporary parking area is available, the parking control device performs parking control such that the vehicle is parked in the temporary parking area.

Abstract: A CEMS server includes a control device that executes a notification process of notifying a user of an electrified vehicle of promotion information for promoting charge or discharge, and a storage device that stores a program executable by the control device. The control device executes the notification process in a case where a first condition and a second condition are satisfied. The control device does not execute the notification process in a case where the first condition or the second condition is not satisfied. The first condition is a condition that a destination of the electrified vehicle is a predetermined place at which the charge or discharge of the electrified vehicle is possible. The second condition is a condition that a request for the charge or discharge is estimated in a period in which the electrified vehicle is present at the predetermined place.

Abstract: A controller is provided that is configured to perform: obtaining information about a condition for an image that is provided to a user, and that corresponds to a preference of the user; specifying at least one predetermined position at which an image satisfying the condition can be taken; and generating a command for a moving object to move to the predetermined position and to take an image, and transmitting the command to the moving object.

Abstract: A fuel cell is provided with: a membrane electrode assembly (MEA); and a cathode-side separator assembled to the MEA, the cathode-side separator including first passages on a first surface of the cathode-side separator on a side closer to the MEA, and second passages on a second surface of the cathode-side separator on an opposite side, the first and second passages allowing oxidant gas to flow through the first and second passages, respectively. The first passages include first recessed portions on the first surface so as to extend from one end of the cathode-side separator to the other end, the second passages include second recessed portions on the second surface so as to extend from the one end to the other end and to be arranged alternately with the first recessed portions, and a penetration hole on a bottom face of the second recessed portion penetrating through the cathode-side separator.

Abstract: A sulfide solid electrolyte is capable of suppressing a decrease in Li ion conductivity due to moisture. A sulfide solid electrolyte includes a Li element, a P element, a S element and an O element, and having a granular shape, and including a crystal portion oriented along the granular shape, on an inner surface of the sulfide solid electrolyte.

Abstract: An information processing apparatus comprises a controller. The controller is configured to execute: acquiring a plurality of datasets, each of the datasets being configured with a combination of training data and a correct answer label; and implementing machine learning of an estimation model using the acquired plurality of datasets, wherein the training data includes workload information about an application constructed based on a microservice architecture and resource use information about resources used for each of components included in the application, in a learning target environment, the correct answer label is configured to show a true value of quality of service of the application, and the machine learning comprises training the estimation model such that, for each of the datasets, an estimated value of the quality of service calculated with the estimation model based on the training data corresponds to the true value shown by the correct answer label.

Abstract: A device for manufacturing a SiC substrate, in which the occurrence of a work-affected layer is reduced, or from which a work-affected layer is removed, comprises: a main container which can accommodate a SiC substrate and which generates, by heating, a vapor pressure of a vapor-phase species including elemental Si and a vapor-phase species including elemental C in an internal space; and a heating furnace for accommodating the main container, generating a vapor pressure of the vapor-phase species including elemental Si in the internal space, and heating so that a temperature gradient is formed; the main container having an etching space formed by causing a portion of the main container disposed on the low-temperature side of the temperature gradient and the SiC substrate to face each other in a state in which the SiC substrate is disposed on the high-temperature side of the temperature gradient.

Abstract: To provide a battery module with high volumetric efficiency. A battery module comprising stacked and connected unit cells each comprising a power generation element, a cathode terminal, and an anode terminal disposed on the opposite side of the cathode terminal of the power generation element, wherein a connection laminate layer including a resin layer, a metal layer and a resin layer in this sequence, is disposed between the unit cells, and wherein the metal layer of the connection laminate layer is electrically connected to the cathode terminal of one adjacent unit cell and the anode terminal of the other unit cell.

Abstract: A vehicle drive device and a control method therefor are provided. The vehicle drive device includes: a power source including a first rotating electrical machine; a second rotating electrical machine; a differential unit including three rotating elements to which a first output shaft, a second output shaft, and the second rotating electrical machine are connected; and an electronic control device. The electronic control device regeneratively controls the first rotating electrical machine and the second rotating electrical machine in such a manner that negative torque is applied to the first output shaft and the second output shaft, when performing regenerative control by the second rotating electrical machine in a drive mode in which torque from the power source is distributed to the first output shaft and the second output shaft by controlling torque of the second rotating electrical machine during deceleration of a vehicle.

Abstract: There are provided a method and a device for feeding electric power to a vehicle, etc. installed with a solar photovoltaic power generation panel employing a multi-junction solar cell in a non-contact manner by irradiating light to the solar photovoltaic power generation panel. In the method, light containing a wavelength component absorbed by each of all solar cell layers laminated in a multi-junction solar cell of the vehicle, etc. is projected from a light-projecting device to the light receiving surface of the multi-junction solar cell; and electric power generated by the irradiation of light from the multi-junction solar cell is taken out. The device includes structures for emitting light containing a wavelength component absorbed by each solar cell layer laminated in the multi-junction solar cell, and for irradiating the light to a light receiving surface of the multi-junction solar cell.

Abstract: A knee brace includes a thigh fixing part, a shank fixing part, an outer leg joint that couples the thigh fixing part with the shank fixing part, and an inner leg joint that couples the thigh fixing part with the shank fixing part. When the wearer P flexes his/her knee joint, a lower arm is rotated with respect to an upper arm along with a rotation fulcrum shaft sliding in a long groove and a cam shaft sliding in a cam groove. When the outer leg joint and the inner leg joint are extended, the lower arm of the outer leg joint is configured to be moved relatively forward with respect to the lower arm of the inner leg joint.

Abstract: A catalyst for purification of exhaust gas in which Pd-based nanoparticles and ceria nanoparticles are supported on a composite metal oxide support containing alumina, ceria, and zirconia, wherein a molar ratio (Ce/Pd) of Ce and Pd supported on the support is 1 to 8, a proximity ? between Pd and Ce is 0.15 to 0.50, wherein the proximity ? is determined, based on Pd and Ce distribution maps in an element mapping image of energy dispersive X-ray analysis, by the following formula (1): ? = ? j = 0 N - 1 ? ? i = 0 M - 1 ? ( ( I ? ( i , j ) - I ave ) ? ( T ? ( i , j ) - T ave ) ) ? j = 0 N - 1 ? ? i = 0 M - 1 ? ( I ? ( i , j ) - I ave ) 2 - ? j = 0 N - 1 ? ? i = 0 M - 1 ? ( T ? ( i , j ) - T ave ) 2 , ( 1 ) a Pd dispersity after a heat-resistance test at 1050° C. for 25 hours is 0.8% or more.

Abstract: A battery state detection device including a battery post terminal, a case accommodating a circuit board including a current sensing circuit that senses a current by being electrically connected to the battery post terminal, and a harness connection part provided on the case, the harness connection part being capable of having a harness connected thereto, in which the battery post terminal includes a holding part held on one of faces of the case, and an insert part provided in a region from the holding part along a face adjacent to the one of the faces of the case, the battery post terminal contacts the case via at least two faces, the two faces including the one of the faces and the face adjacent to the one of the faces, and the case includes a fitting part, the fitting part being adapted to fit around the insert part by accommodating the insert part.

Abstract: A spot welding method includes a heating step of energizing an electrode in pressure contact with an Al alloy member to heat and melt a join part by resistance heating and a cooling step of cooling the join part after the heating step in a state in which the electrode is in pressure contact with the Al alloy member. The alloy is a wrought alloy of Mg: 0.2 to 1.2 mass %, Si: 0.4 to 1.5%, and Cu: 1.1% or less or a casting alloy of Si: 7 to 11% and Mg: 0.1 to 0.4% with respect to 100% as a whole. The cooling step includes a first cooling process performed with a reduced amount of input energy to the join part as compared with the heating step and a second cooling process performed after the first cooling process at a higher cooling rate than that in the first cooling process.

Abstract: Systems and methods are provided for exchanging electrode tips, e.g., electrode tips used in resistance spot welding, and disposing of used/unusable electrode tips. Used/unusable electrode tips may be collected, e.g., while within an assembly line. Such used/unusable electrode tips may be routed to a receptacle(s) reside outside the assembly line. Accordingly, disposing or removing of the used/unusable electrode tips can be accomplished without stopping the assembly line, and decreasing any chance for safety events.

Abstract: A vehicle can include a first wheel, a second wheel, and a steering system. Either both the first wheel and the second wheel can be front wheels or both the first wheel and the second wheel can be rear wheels. The steering system can be configured to concurrently cause: (1) a steering angle of the first wheel to be at a first angle and (2) a steering angle of the second wheel to be at a second angle. A difference angle can be a difference of the first angle subtracted from the second angle and can be greater than an angle determined to comply with Ackermann steering geometry. Such a difference angle can act to securely brake the vehicle when the vehicle is parked at a location at which a three-dimensional shape of a topological relief of the location can complicate an effort to securely brake the vehicle.

Abstract: To provide a power supply unit configured to determine the boundary between the operation modes (continuous mode and discontinuous mode) of a converter with high accuracy. The power supply unit is a power supply unit wherein the controller controls a value of output current of the power supply by controlling a duty ratio by switching the second switch; wherein the controller detects the current value of the reactor acquired by the current sensor, at a frequency of at least n (n is an integer of 2 or more) times in a cycle of the switching.

Abstract: A driving settings control system and method for controlling operating conditions of a vehicle component. The method includes determining a route to a destination in response to receiving the destination from the vehicle, identifying triggers along the route, determining operating conditions of one or more vehicle components of the vehicle corresponding to the triggers, and transmitting control instructions to the vehicle including the route, the operating conditions of the one or more vehicle components, and executing commands instructing the vehicle to accept the operating conditions of the one or more vehicle components as the vehicle approaches locations of the triggers.

Abstract: A shelf inventory management system includes: a shelf installed in a house; a sensor that detects that an article is taken out from the shelf; a management unit that manages an inventory status of the article stored in the shelf, based on a detection result of the sensor; and a terminal for notifying a user of information related to the article stored in the shelf. The management unit stores, for each user, a taken out amount of each health-related product a consumption amount of which affects health, of the article stored in the shelf, and is able to output the taken out amount of each health-related product to the terminal.

Abstract: The present disclosure makes it possible to further improve convenience of customers and the like accompanying purchase of merchandise. An autonomous traveling unit is provided with: a driving portion including an autonomous traveling ability, the driving portion being configured to be movable together with a storing portion configured to store merchandise; and a controlling portion configured to execute: acquiring settlement completion information about the merchandise stored in the storing portion, the merchandise being merchandise in a store; and controlling the driving portion to cause the merchandise storing portion to move to a first point outside the store after acquiring the settlement completion information.

Abstract: A parking control device performs parking control such that a vehicle is parked in a reserved parking area in an automatic valet parking lot including a plurality of parking areas. When the vehicle arrives at the automatic valet parking lot before an entrance time for the reserved parking area, the parking control device determines whether the reserved parking area is available. When it is determined that the reserved parking area is not available, the parking control device determines whether a temporary parking area which is an area other than the reserved parking area is available. When it is determined that the temporary parking area is available, the parking control device performs parking control such that the vehicle is parked in the temporary parking area.

Abstract: To effectively enhance the operation efficiency of an autonomous mobile robot, an autonomous mobile robot control system includes a processor and a plurality of environmental cameras. The processor estimates a moving route of each of a plurality of moving bodies on the basis of characteristics of each of the plurality of moving bodies and sets a subset of the plurality of moving bodies whose moving routes overlap among the detected moving bodies as avoidance processing target moving bodies. The processor generates an avoidance procedure for the avoidance processing target moving bodies so the motion of the avoidance processing target moving bodies does not interfere with the motion of other avoidance target moving bodies.

Abstract: An information processing apparatus includes a processor that: receives, from a user terminal, a request for first update regarding a first vehicle, notifies the user terminal that the first update is to be performed at a shop, when the first update is update of hardware, and notifies the user terminal that the first update is to be performed through wireless communication, when the first update is update of software.

Abstract: An information processing apparatus receives a completion notification that indicates the completion of updating of first software that controls the display on a first monitor provided in an autonomous vehicle. Then, the information processing apparatus updates, triggered by the reception of the completion notification, second software that controls the display on a second monitor used for remotely monitoring the operation of the autonomous vehicle.

Abstract: Disclosed herein are membrane-electrode assemblies and fuel cells comprising an anode comprising a first catalyst; a cathode comprising a second catalyst; and a proton exchange membrane between the anode and cathode; wherein at least one of the proton exchange membrane, anode, and cathode comprise an antioxidant comprising yttrium doped cerium oxide and a metal doped cerium oxide that has a faster release time of cerium ions compared to yttrium doped cerium oxide.

Abstract: A stator for a rotating electric machine includes a stator core, a coil having a coil end, a cooling jacket that is attached to the stator core so as to house the coil end in the cooling jacket and that allows cooling oil to flow therethrough, introduction parts, and discharge parts. The coil end includes first portions, extending parallel to an end surface of the stator core, and pairs of second portions, each pair being connected to both ends of a corresponding one of the first portions, the pairs extending in a direction parallel to an axial direction. The cooling jacket includes an inner circumferential wall and an outer circumferential wall. The introduction parts are provided on the outer circumferential wall, and the discharge parts are provided on the inner circumferential wall.

Abstract: A badge has a print layer and a substrate that is a processed layer. The print layer is printed with a subject image in which a radial center point is defined as a center point of a radial representation. The substrate has a circular brushed surface that is subjected to circular processing. At least one of the print layer and the substrate is light transmissive. The print layer is laminated on the circular brushed surface side of the substrate such that the radial center point of the subject image and a circular processing center point that is a center point of the circular processing coincide with each other.

Abstract: A magnet array method that can improve assemblability of magnets is provided. A magnet array method according to an aspect of the present disclosure is for arraying a plurality of magnetized magnets using a magnet array jig and includes disposing magnetic force parts of the magnet array jig at positions facing magnets to be arrayed, and arraying the magnets. The magnetic force parts are disposed so as to impart, to the magnets to be arrayed, a magnetic force for cancelling a force acting on the magnets to be arrayed.

Abstract: An electrode mixture including an electrode active material, a conductive fibrous carbon material, and inorganic nanoparticles applied to a surface of the electrode active material. The conductive fibrous carbon material contains magnetic metal. A ratio of coverage of the inorganic nanoparticles covering the surface of the electrode active material to content of the magnetic metal contained in the conductive fibrous carbon material is 38.5 or less.

Abstract: An information processing system comprises a master apparatus configured to instruct generation and destruction of a plurality of application containers that operate in a plurality of node apparatuses, respectively, and a route control apparatus configured to control routing among the plurality of node apparatuses, wherein the master apparatus comprises a first processor configured to execute: receiving a first message requesting generation or destruction of an application container among the application containers that is in a first node apparatus among the plurality of node apparatuses; and transmitting, when receiving the first message, a second message showing that a configuration of the plurality of application containers has changed, to the route control apparatus; and the route control apparatus comprises a second processor configured to, when receiving the second message, execute generating route information about routes among the plurality of node apparatuses.

Abstract: A rotor used for a motor includes a rotor core, and a plurality of permanent magnets embedded in a corresponding plurality of embedding holes in the rotor core configured to include flux barriers at both ends of the plurality of embedding holes in the rotor core and to include a plurality of magnetic poles. The rotor core includes a plurality of grooves on an outer peripheral surface, the plurality of grooves, with the two paired grooves, are away from an axis that becomes the q-axis when the motor is operated, and are arranged symmetrically about the axis, and the rotor core has such a cross-section that a first angle between two lines passing through the two grooves and the center of the rotor core is smaller than a second angle between the axis-side end face of the two flux barriers adjacent to each other across the axis.

Abstract: A fuel cell vehicle may include: a fuel cell stack configured to generate electric power for a traction motor; a compressor configured to supply air to the fuel cell stack, the compressor including an impeller and a motor configured to rotate the impeller; and a controller configured to decrease a rotation speed of the motor when detecting accelerator-off. The controller may be configured to decrease the rotation speed at a first deceleration rate when an air outlet pressure of the compressor is higher than a pressure threshold, and decrease the rotation speed at a second deceleration rate when the air outlet pressure of the compressor is lower than the pressure threshold, the second deceleration rate being lower than the first deceleration rate.

Abstract: An all-solid-state battery has a positive electrode layer, a separator layer and a negative electrode layer. The all-solid-state battery satisfies relationships of “Formula (1): 0.99?Sa0/Sc0?1.01,” “Formula (2): 1.00?Sa1/Sa0?1.13,” and “Formula (3): 0.93?Sc1/Sc0?1.02.” Sc0 indicates an area of the positive electrode layer when the SOC is 0%. Sc1 indicates an area of the positive electrode layer when the SOC is 100%. Sa0 indicates an area of the negative electrode layer when the SOC is 0%. Sa1 indicates an area of the negative electrode layer when the SOC is 100%.

Abstract: A main object of the present disclosure is to provide an active material wherein an expansion upon intercalation of a metal ion such as a Li ion is suppressed. The present disclosure achieves the object by providing an active material comprising a silicon clathrate type crystal phase, and the active material includes a Na element, a Si element and a M element that is a metal element with an ion radius larger than the Si element, and a proportion of the M element to a total of the Si element and the M element is 0.1 atm % or more and 5 atm % or less.

Abstract: An electrode material has a solid concentration of 72% or more. It includes a composite particle, a sulfide solid electrolyte, and a solvent. The composite particle includes an active material and a fluoride solid electrolyte. The fluoride solid electrolyte covers at least part of a surface of the active material. The sulfide solid electrolyte is adhered to the composite particle.

Abstract: A main object of the present disclosure is to provide a method for producing a layered battery with which a layered battery with high structural reliability can be produced.

Abstract: The charge-discharge control device includes an alternating current-direct current converter that converts AC power from a primary side into DC power, a direct current bus that distributes power from the alternating current-direct current converter, a plurality of channels connected in parallel to the direct current bus, and a processor configured to control a current of charging or discharging of a secondary battery connected to the channel so as to minimize power supplied from the primary side.

Abstract: An information processing apparatus includes an input interface that accepts a parking reservation for a vehicle for which parking is desired, and a controller that confirms, when the vehicle for which parking is desired is a first vehicle whose purpose for parking includes charging, whether there is an opening for reservation of a first parking lot having a charging station, completes acceptance of reservation of the first parking lot for the first vehicle when there is an opening, changes a reservation of the first parking lot for at least one second vehicle, selected based on a predetermined condition from among one or more reservation holding vehicles for which acceptance of reservation of the first parking lot is completed, to a reservation of a second parking lot based on the predetermined condition when there is no opening, and completes acceptance of reservation of the first parking lot for the first vehicle.

Abstract: A vehicle object detection system configured to judge whether a target object which has been detected in the detection area is an alert object, and to output a result of judgement to a warning which is configured to output a warning to a driver of the subject vehicle that a target object is present in the detection area based on judging the target object to be an alert object, wherein the system is configured to judge, in response to the subject vehicle being detected to make or have made a turn, whether the target object detected in the detection area is an alert object based on a trailing trajectory of the subject vehicle being a calculated trajectory the subject vehicle has passed during turning and/or after turning, and further based on a current relative position of the target object with respect to the subject vehicle.

Abstract: The in-vehicle controller of the present disclosure is installed in a vehicle together an engine, a motor capable of generating electricity connected to a crankshaft of the engine, a high voltage battery connected to the motor by a high voltage power line, a low voltage battery, a DC/DC converter connected to the high voltage power line and a low voltage power line connected to the low voltage battery, and a relay attached to the high voltage battery side of the high voltage power line from the DC/DC converter. The in-vehicle controller of the present disclosure stops driving the DC/DC converter after driving off the motor when completing the batteryless driving by disconnecting the high voltage battery with the relay turned off.

Abstract: A kinetic seat cushion assembly that rotates based on a force applied on an occupant seated therein is provided. The kinetic seat cushion assembly includes a primary seat cushion frame, a secondary seat cushion frame, a seat cushion tilt mechanism coupling the secondary seat cushion frame to the primary seat cushion frame such that the secondary seat cushion frame is movable with respect to the primary seat cushion frame, and a front pivot mechanism that pivotally couples a front portion of the primary seat cushion frame to a front portion of the secondary seat cushion frame.

Abstract: A wheelchair fixing device includes a support member that is provided on a base member and supports the drive mechanism, a slide shaft, a pair of lock arms that is provided on both sides of the base member, the lock arms being configured to turn toward a downward side and to pin down a fixing bar of the wheelchair due to the slide shaft moving in the backward direction, and being configured to turn toward the upward side and to release pinning down of the fixing bar due to the slide shaft moving in the advancing direction, a pair of switch arm mechanisms configured to turn due to being pressed by the fixing bar of the wheelchair, and lock switches configured to drive the drive mechanism by being pressed by the switch arm mechanisms, such that the slide shaft is moved in the backward direction.

Abstract: Systems and methods are provided for delivering a work part to an assembly line worker using a dolly assembly in a first configuration and retrieving the work part from the dolly assembly by the assembly line work while the dolly assembly is in a second configuration. According to some embodiments, a dolly assembly is provided comprising a base assembly having a support member and a mobility mechanism, the support member positioned obliquely with respect to a horizontal plane. The dolly assembly also includes a part-carrying member rotationally connected to the support member and having a part-holding structure for receiving a work part. The part-carrying member extends downward at an angle below the horizontal plane when in a first configuration, and extends upward from at an angle above the horizontal plane when in a second configuration.

Abstract: A robot system and a method for driving a robot capable of moving the position of the center of gravity of the robot while minimizing the increase in the footprint thereof are provided. A robot system according to an aspect of the present disclosure includes a robot. The robot includes a movable moving part, an upper body part disposed above the moving part, and a driving mechanism for tilting the upper body part and moving a lower end of the upper body part in a direction in which the upper body part is tilted.

Abstract: A quaternion joint includes a first member, a second member rotatably connected to the first member through links, a plurality of first pulleys provided on the end face of the first member so that the first pulleys are able to swing, a plurality of second pulleys provided on the end face of the second member facing the end face of the first members so that the second pulleys correspond to the first pulleys and so that the second pulleys are able to swing, and a plurality of wires hung between the first pulleys and the second pulleys corresponding to the first pulleys. A rotation shaft of the first pulley is offset from a rotation shaft of the second pulley corresponding to the first pulley in a state in which the rotation shaft of the first pulley is rotated around a direction in which the wire is extended.

Abstract: The driving support apparatus performs deceleration control of the vehicle. The driving support apparatus includes: a sensitivity setting unit configured to set an actuation sensitivity of a deceleration control; a deceleration execution unit configured to execute the deceleration control based on the actuation sensitivity; and a brake operation detection unit configured to detect a brake operation by a driver. The sensitivity setting unit changes the actuation sensitivity based on a control execution count which is the number of executions of the deceleration control and a driver operation count which is the number of operations of the brake operation.

Abstract: A vehicle object detection system configured to generate a judgement on whether a target object which has been detected to enter the detection area is an alert object, and to output the judgement to a warning which is configured to output a warning to a driver of the subject vehicle that a target object is present in the detection area behind the subject vehicle based on the judgement indicating that the target object is an alert object, wherein the system is configured to delay generating the judgment until a specified period of time has elapsed from a point in time when the target object is detected to enter a detectable area included in a field of view of a sensor, wherein the detectable area overlaps with only a part of the detection area.

Abstract: A display control device includes: a memory; and a processor coupled to the memory and configured to: acquire information of a moving body in surroundings of a vehicle; and display a specific image on a display area provided to the vehicle according to a position of the moving body based on the acquired information of the moving body, the specific image being displayed either overlaid on or adjacent to the moving body; and in a case in which the moving body inside the display area has exited from the display area, continue to display the specific image until a specific period of time has elapsed.

Abstract: An information processing system for transmitting support information to a support target vehicle based on target vehicle data, the information processing system comprising: a moving body encounter situation estimating unit that estimates whether or not a situation of the area is a moving object encounter situation based on target vehicle data in a preset area; and a vehicle support unit that transmits support information to the support target vehicle when a situation of an area in which the support target vehicle is located is a moving object encounter situation, and does not transmit support information to the support target vehicle when a situation of an area in which the support target vehicle is located is not a moving object encounter situation.

Abstract: A control apparatus according to the present disclosure is configured to execute the following first to five processes. The first process is a localization of a moving body. The second process is revising an estimated position obtained by the localization such that a displacement amount with respect to a previous position is within a predetermined range. The third process is regarding a revised estimated position obtained as a position of the moving body in a current process, and performing a control of the moving body based on the revised estimated position. The fourth process is detecting a poor accuracy of the localization based on a difference between the estimated position and the revised estimated position. The fifth process is performing an emergency control corresponding to a magnitude of the difference when the poor accuracy of the localization is detected.