Abstract: The present subject matter relates to a control device, a feature optimization device, a system, a vehicle, a method and a computer program product for controlling a movement of a vehicle, in particular for controlling a movement of an autonomous driving vehicle. Based on a current image of the vehicle's environment a map is selected from a plurality of maps stored in a database, a global pose of the vehicle is determined based on a comparison of the current image and the selected map and the movement of the vehicle is controlled based on the determined global pose thereof.

Abstract: A propulsion device support mechanism includes: a support member configured to support a propulsion device of a hull such that the propulsion device is swingable relative to the hull by forward and backward movement of a rod. The support member includes a receiving portion that receives a top end portion of the rod. The receiving portion has a convex surface protruding toward the top end portion of the rod. The convex surface has a uniform shape regardless of a position in a direction along a shaft of the support member such that the top end portion of the rod and the convex surface are in line contact.

Abstract: A control device controls a generation force of a force generating mechanism including a permanent magnet and an armature that generate an adjustable force between a first member and a second member. The control device includes: a command value acquisition unit that acquires a generation force command value of the force generating mechanism; a relative displacement acquisition unit that acquires a relative displacement of the permanent magnet and the armature; a movement direction command acquisition unit that acquires a movement direction command of the armature with respect to the permanent magnet from the generation force command value; and an actual movement direction acquisition unit that acquires an actual movement direction of the armature with respect to the permanent magnet from the relative displacement. The generation force command value is corrected by acquiring a correction value based on the movement direction command and the actual movement direction.