US-12620313-B2 - Processing method, processing system, and storage medium storing processing program

US12620313B2US 12620313 B2US12620313 B2US 12620313B2US-12620313-B2

Abstract

A processing method is executed by a processor for performing a process related to a driving control of a host moving object that is configured to communicate with a target moving object. The processing method includes: acquiring warning information from the target moving object, the warning information warning of an envelope violation that is a violation of a safety envelope in which a safety of an intended functionality is set, the safety envelope being set for the target moving object with respect to the host moving object; and adjusting the safety envelope with respect to the target moving object in response to acquiring the warning information.

Inventors

Hidenori Matsuzaki
Hirotoshi Yasuoka

Assignees

DENSO CORPORATION

Dates

Publication Date: 20260505
Application Date: 20230922
Priority Date: 20210326

Claims (9)

1 . A processing method executed by a processor for performing a process related to a driving control of a host moving object that is configured to communicate with a target moving object, the processing method comprising: setting a safety envelope of the target moving object within which a safety of an intended functionality is set with respect to the host moving object, wherein the safety envelope of the target moving object surrounds the target moving object; setting a safety envelope of the host moving object within which a safety of an intended functionality is set with respect to the target moving object, wherein the safety envelope of the host moving object surrounds the host moving object; acquiring warning information from the target moving object, the warning information warning of an envelope violation that is a violation of the safety envelope surrounding the target moving object caused by the host moving object; and adjusting the safety envelope surrounding the host moving object in response to acquiring the warning information.
2 . The processing method according to claim 1 , wherein adjusting the safety envelope includes adjusting the safety envelope with respect to the target moving object in response to acquiring the warning information when the host moving object does not recognize the envelope violation.
3 . The processing method according to claim 2 , further comprising: monitoring the envelope violation based on a safety model that is defined by modeling the safety of the intended functionality, wherein adjusting the safety envelope further includes adjusting the safety envelope with respect to the target moving object by correcting the safety model when the host moving object does not recognize the envelope violation.
4 . The processing method according to claim 1 , wherein acquiring the warning information further includes acquiring the warning information for making a push notification of the envelope violation.
5 . The processing method according to claim 1 , wherein acquiring the warning information further includes acquiring the warning information to which envelope information related to the safety envelope set for the target moving object is added.
6 . The processing method according to claim 1 , further comprising: storing the acquired warning information.
7 . The processing method according to claim 1 , further comprising: generating feedback information for giving a feedback of acquisition of the warning information to the target moving object.
8 . A processing system that is configured to execute a process related to a driving control for a host moving object that is configured to communicate with a target moving object, the system comprising at least one processor programmed to: setting a safety envelope of the target moving object within which a safety of an intended functionality is set with respect to the host moving object, wherein the safety envelope of the target moving object surrounds the target moving object; setting a safety envelope of the host moving object within which a safety of an intended functionality is set with respect to the target moving object, wherein the safety envelope of the host moving object surrounds the host moving object; acquiring warning information from the target moving object, the warning information for warning of an envelope violation that is a violation of the safety envelope surrounding the target moving object caused by the host moving object; and adjusting the safety envelope surrounding the host moving object in response to acquiring the warning information.
9 . A non-transitory, computer readable, tangible storage medium storing a processing program including instructions that cause at least one processor to execute a process related to a driving control of a host moving body that is configured to communicate with a target moving object, the instructions, when executed by the at least one processor, casing the at least one processor to: set a safety envelope of the target moving object within which a safety of an intended functionality is set with respect to the host moving object, wherein the safety envelope of the target moving object surrounds the target moving object; set a safety envelope of the host moving object within which a safety of an intended functionality is set with respect to the target moving object, wherein the safety envelope of the host moving object surrounds the host moving object; acquire, from the target moving object, warning information for warning of an envelope violation that is a violation of the safety envelope surrounding the target moving object caused by the host moving object; and adjust the safety envelope surrounding the host moving object in response to acquiring the warning information.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation application of International Patent Application No. PCT/JP2022/006438 filed on Feb. 17, 2022, which designated the U.S. and claims the benefit of priority from Japanese Patent Application No. 2021-053969 filed on Mar. 26, 2021. The entire disclosure of all of the above application is incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to a processing technique for performing processing related to driving of a moving object. BACKGROUND ART There has been known driving control related to a navigation operation of a host vehicle is planned according to detection information related to internal and external environments of the host vehicle. Therefore, when it is determined that there is potential accident responsibility based on a safety model following a driving policy and the detection information, a constraint is given to the driving control. SUMMARY One aspect of the present disclosure is a processing method executed by a processor for performing a process related to a driving control of a host moving object that is configured to communicate with a target moving object. The processing method includes: acquiring warning information from the target moving object, the warning information warning of an envelope violation that is a violation of a safety envelope in which a safety of an intended functionality is set, the safety envelope being set for the target moving object with respect to the host moving object; and adjusting the safety envelope with respect to the target moving object in response to acquiring the warning information. BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a table illustrating explanations of terms in the present disclosure. FIG. 2 is a table illustrating explanations of terms in the present disclosure. FIG. 3 is a table illustrating explanations of terms in the present disclosure. FIG. 4 is a table illustrating explanations of terms in the present disclosure. FIG. 5 is a table illustrating explanations of terms in the present disclosure. FIG. 6 is a block diagram illustrating a processing system according to a first embodiment. FIG. 7 is a schematic diagram illustrating a traveling environment of a host vehicle to which the first embodiment is applied. FIG. 8 is a schematic diagram illustrating a traveling environment of the host vehicle to which the first embodiment is applied. FIG. 9 is a block diagram illustrating the processing system according to the first embodiment. FIG. 10 is a schematic diagram illustrating a lane structure example and a processing method according to the first embodiment. FIG. 11 is a schematic diagram illustrating a lane structure example and a processing method according to the first embodiment. FIG. 12 is a schematic diagram illustrating a lane structure example and a processing method according to the first embodiment. FIG. 13 is a schematic diagram illustrating a lane structure example and a processing method according to the first embodiment. FIG. 14 is a flowchart showing a processing method according to the first embodiment. FIG. 15 is a flowchart showing a processing method according to the first embodiment. FIG. 16 is a flowchart showing a processing method according to a second embodiment. FIG. 17 is a flowchart showing a processing method according to the second embodiment. FIG. 18 is a block diagram showing a processing system according to a third embodiment. FIG. 19 is a block diagram showing a processing system according to a fourth embodiment. FIG. 20 is a block diagram showing a processing system according to a fifth embodiment. FIG. 21 is a block diagram showing a processing system according to a sixth embodiment. FIG. 22 is a block diagram showing a processing system according to the sixth embodiment. DESCRIPTION OF EMBODIMENTS To begin with, a relevant technology will be described only for understanding the following embodiments. However, there is a possibility that a discrepancy may occur in a situation recognition between the host vehicle and the target vehicle. Therefore, there is a possibility that the response to the behavior of the moving body may be affected. One of objectives of the present disclosure is to provide a processing method that promotes improvement in ability to respond to the behavior of the moving body. Another one of objectives of the present disclosure is to provide a processing system that promotes improvement in ability to respond to the behavior of the moving body. Yet another one of objectives of the present disclosure is to provide a storage medium storing a processing n¥medium that promotes improvement in ability to respond to the behavior of the moving body. A first aspect of the present disclosure is a processing method executed by a processor for performing a process related to a driving control of a host moving object that is configured to communicate with a target moving object. The processing method includes: