Abstract: A vehicle control device (10) that controls an electric motor (2) that drives a wheel (5) of the vehicle, the vehicle control device (10) includes: a first calculating unit (11) that calculates a first vehicle body velocity (VBreal) based on an angular velocity of the wheel (5); a second calculating unit (12) that calculates a second vehicle body velocity (VBref) based on an angular velocity of the electric motor (2) at a cycle shorter than a cycle of the first calculating unit (11); an estimating unit (13) that estimates an estimated vehicle body velocity according to a state of the vehicle (1), the estimated vehicle body velocity (VBctrl) being calculated by using the first vehicle body velocity (VBreal) and the second vehicle body velocity (VBref) in combination; and a controlling unit (16) that controls, based on the estimated vehicle body estimated by the estimating unit (13), the electric motor (2).

Abstract: An axial deviation of the sensor is corrected.

Abstract: The vehicle control device (10) includes: an arithmetic unit (11) that calculates a target slip ratio (y) serving as a target value of a slip ratio (?) of the wheel (5); a limiting unit (12) that sets an upper limit value (ymax) of the target slip ratio (y), the upper limit value (ymax) being based on at least a vehicle velocity (V) of the vehicle (1), and limits the target slip ratio (y) calculated by the arithmetic unit (11) to a value equal to or less than the upper limit value (ymax); and a controlling unit (13) that controls driving torque of the vehicle (1) such that a wheel velocity that achieves the target slip ratio (y) limited by the limiting unit (12) is obtained.

Abstract: Reliability of a target is appropriately determined. A target detection device detects a target around a vehicle based on sensor information measured by a plurality of sensors. The device includes: a first sensor; a second sensor; an integration processing unit that integrates detection information of the target of the first sensor and detection information of the target of the second sensor for each cycle; an integration history management unit that manages an integration result of the integration processing unit as an integration history in time series; and a reliability determination unit that determines reliability of a type of the target based on the integration history and the pieces of detection information of the target of the first sensor and the second sensor. The detection information of the target of the first sensor includes type information of the target.

Abstract: An object of the present invention is to provide a dividing line recognition device capable of generating dividing line information including a dividing line of a portion that cannot be detected by a sensor in a form in which reliability is added to each portion of the dividing line.

Abstract: The present disclosure provides an IMS analyzer including an analysis chamber, an electron emitter, an ion detector, a first gas injector that injects a sample gas into the analysis chamber, a second gas injector that injects a drift gas into the analysis chamber, a third gas injector that injects a primary ion generating gas into the analysis chamber, and an outlet port, in which the first gas injector, the second gas injector, the third gas injector, and the outlet port are arranged such that the sample gas merges with the drift gas and the primary ion generating gas in a reaction area and is discharged through the outlet port, the ion detector is located on an upperstream side of the drift gas stream relative to the reaction area, and the electron emitter is located on an upperstream side of the primary ion generating gas stream relative to the reaction area.

Abstract: A sensor aiming device includes: a target positional relationship processing unit for outputting positional relationship information of first and second targets; a sensor observation information processing unit configured to convert the observation result of the first and second targets into a predetermined unified coordinate system according to a coordinate conversion parameter, perform time synchronization at a predetermined timing, and extract first target information indicating a position of the first target and second target information indicating a position of the second target; a position estimation unit configured to estimate a position of the second target using the first target information, the second target information, and the positional relationship information; and a sensor correction amount estimation unit configured to calculate a deviation amount of the second sensor using the second target information and an estimated position of the second target and estimate a correction amount.

Abstract: To correct an axis deviation of a sensor. An aiming device, which calculates correction amounts of detection results of two or more sensors using the detection results of the sensors, includes: a sensor coordinate conversion unit that converts sensor data detected by the sensor from a coordinate system unique to the sensor into a predetermined unified coordinate system; a target selection unit that selects predetermined features from the sensor data detected by each of the sensors; a function fitting unit that defines functions each approximating an array state of the selected features for the respective sensors; a fitting result comparison unit that compares the functions each approximating the array state of the features detected by each of the sensors; and a correction value calculation unit that calculates a correction amount for converting coordinates of the features detected by the sensors from a result of the comparison of the functions.

Abstract: An axial deviation of the sensor is corrected.

Abstract: An ionizer of the present invention includes a housing, an electron discharge element arranged in the housing, a controller, and a gas introduction, wherein the electron discharge element has a bottom electrode, a surface electrode, and an intermediate layer arranged between the bottom electrode and the surface electrode, and the controller is so set as to apply a voltage to across the bottom electrode and the surface electrode, and so set as to execute a forming process when an electron discharge performance of the electron discharge element is decreased, and the forming process is a process of applying, in a state where a forming process gas is introduced into the housing by using the gas introduction, a forming voltage to across the bottom electrode and the surface electrode using the controller.

Abstract: The fermentation management method according to the present invention includes a sampling step of sampling a gas containing substances produced in association with fermentation, an analysis step of analyzing the sampled gas by ion mobility spectrometry, and an operation step of operating at least one of adjustment of the fermentation, termination of the fermentation, mixing of a fermented product, addition of materials or additives to the fermented product, temperature regulation for the fermented product, stirring regulation for the fermented product, firing of the fermented product, sedimentation, and filtration of the fermented product on the basis of at least one of a peak intensity, a peak area, and peak appearance in an IMS spectrum obtained in the analysis step. The analysis step is a step of ionizing and analyzing the substances produced in association with the fermentation by using electrons emitted from an electron emitting element.

Abstract: A vehicle integrated control apparatus includes: an electronic control type right/left wheel differential limiting mechanism; a restraining torque proportional controlling unit calculating a first steering assisting force being proportional to a control amount of a restraining torque of the right and left front wheels and being in a direction according to a rotational speed difference between right and left front wheels; a steering reaction force feedback controlling unit calculating a second steering assisting force corresponding to a steering system reaction force and being in a direction along which the steering system reaction force is canceled; and a switching unit changing a ratio of the first and second steering assisting forces in a steering assisting force to be generated, in accordance with the rotational speed difference.

Abstract: A vehicle integrated control apparatus includes: an electronic control type right/left wheel differential limiting mechanism; a restraining torque proportional controlling unit calculating a first steering assisting force being proportional to a control amount of a restraining torque of the right and left front wheels and being in a direction according to a rotational speed difference between right and left front wheels; a steering reaction force feedback controlling unit calculating a second steering assisting force corresponding to a steering system reaction force and being in a direction along which the steering system reaction force is canceled; and a switching unit changing a ratio of the first and second steering assisting forces in a steering assisting force to be generated, in accordance with the rotational speed difference.