US-20260125050-A1 - PROCESSING DEVICE, PROCESSING METHOD, PROCESSING SYSTEM, STORAGE MEDIUM

US20260125050A1US 20260125050 A1US20260125050 A1US 20260125050A1US-20260125050-A1

Abstract

A processing device performing a process related to driving of a host moving object, which is capable of communicating with a remote center, is provided. The processing device includes a processor configured to: monitor a safety envelope violation, which is a violation of a safety envelope in which safety of intended functionality is set in compliance with a driving policy, in the host moving object in autonomous driving; in response to determining that the safety envelope violation is occurred, generate scenario information, which represents a scenario of the safety envelope violation, and transmit the scenario information to the remote center; and acquire feedback information from the remote center, the feedback information being fed back based on the scenario information.

Inventors

Shin Kosaka
TASUKU HAYAKAWA
Atsushi Baba
Norifumi Kanda
Megumi ANAMI

Assignees

DENSO CORPORATION

Dates

Publication Date: 20260507
Application Date: 20260105
Priority Date: 20210203

Claims (12)

1 . A vehicle capable of communicating with a remote center and performing a process related to a driving operation, the vehicle comprising: a detection unit configured to detect an environment by processing sensor data, which is acquired from sensors, using a detection algorithm; a monitoring unit configured to monitor the vehicle for a violation of a limit or a condition to maintain the driving operation within an acceptable level of risk; and a communication device configured to transmit, to the remote center, scenario information representing a scenario in which the violation is occurred in response to an occurrence of the violation, and obtain, from the remote center, an update command or a parameter adjustment command for the detection algorithm as feedback information that is fed back based on the scenario information.
2 . The vehicle according to claim 1 , wherein the monitoring unit is configured to monitor an occurrence frequency of the violation, and the communication device determines whether to transmit the scenario information based on the occurrence frequency of the violation.
3 . The vehicle according to claim 1 , wherein the scenario information includes a kinematic property of the vehicle in the scenario where the violation occurred.
4 . The vehicle according to claim 1 , wherein the scenario information includes a position of the vehicle in the scenario where the violation occurred.
5 . The vehicle according to claim 1 , wherein the detection algorithm includes an algorithm related to a fusion processing that detects the environment by integrating the sensor data acquired from the sensors, and the monitoring unit is configured to monitor the violation based on a result detected by the algorithm related to the fusion processing.
6 . The vehicle according to claim 1 , wherein the detection algorithm includes an algorithm related to object detection for detecting an object existing in an external environment of the vehicle, and the monitoring unit is configured to monitor the violation based on a result detected by the algorithm related to object detection.
7 . The vehicle according to claim 1 , wherein the detection algorithm includes an algorithm related to road detection for detecting a road on which the vehicle is currently traveling and plans to travel, and the monitoring unit is configured to monitor the violation based on a result detected by the algorithm related to road detection.
8 . In the vehicle according to claim 1 , wherein the detection algorithms includes an algorithm related to sign detection for detecting a sign associated with a traveling road of the vehicle, and the monitoring unit is configured to monitor the violation based on a result detected by the algorithm related to sign detection.
9 . The vehicle according to claim 1 , wherein the detection algorithm includes an algorithm related to localization for estimating a self-state amount including a self-position of the vehicle, and the monitoring unit is configured to monitor the violation based on a result detected by the algorithm related to localization.
10 . The vehicle according to claim 1 , wherein the monitoring unit is configured to monitor the violation when the driving operation of the vehicle is performed by autonomous driving.
11 . A computer mounted on the vehicle according to claim 1 , the computer comprising at least one memory and at least one processor, wherein the at least one processor executing instructions of a processing program stored in the at least one memory to implement the monitoring unit.
12 . A computer mounted on the vehicle according to claim 1 , the computer comprising at least one memory and at least one processor, wherein the at least one processor executing instructions of a processing program stored in the at least one memory to implement the communication device.

Description

CROSS REFERENCE TO RELATED APPLICATION The present application is a continuation application of U.S. patent application Ser. No. 18/363,517 filed on Aug. 1, 2023, which is a continuation application of International Patent Application No. PCT/JP2022/002633 filed on Jan. 25, 2022, which designated the U.S. and claims the benefit of priority from Japanese Patent Application No. No. 2021-015885 filed in Japan on Feb. 3, 2021. The entire disclosures of all of the above applications are incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to a processing technique for performing processing related to driving of a host moving object. BACKGROUND Conventionally, 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. SUMMARY The present disclosure provides a processing device, processing method, or a processing program for performing a process related to driving of a host moving object. The host moving object is capable of communicating with a remote center. The processing device includes a processor configured to: monitor a safety envelope violation, which is a violation of a safety envelope in which safety of intended functionality is set in compliance with a driving policy, in the host moving object in autonomous driving; in response to determining that the safety envelope violation is occurred, generate scenario information, which represents a scenario of the safety envelope violation, and transmit the scenario information to the remote center; and acquire feedback information from the remote center, the feedback information being fed back based on the scenario information. BRIEF DESCRIPTION OF DRAWINGS Objects, features and advantages of the present disclosure will become apparent from the following detailed description made with reference to the accompanying drawings. FIG. 1 is a description table illustrating descriptions of terms in the present disclosure. FIG. 2 is a description table illustrating descriptions of terms in the present disclosure. FIG. 3 is a description table illustrating descriptions of terms in the present disclosure. FIG. 4 is a description table illustrating definitions of terms in the present disclosure. FIG. 5 is a description table illustrating definitions of terms in the present disclosure. FIG. 6 is a block diagram illustrating a processing system of 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 block diagram illustrating the processing system of the first embodiment. FIG. 9 is a block diagram illustrating the processing system of the first embodiment. FIG. 10 is a schematic diagram illustrating a lane structure example of the first embodiment. FIG. 11 is a flowchart illustrating a processing method of the first embodiment. FIG. 12 is a description table describing the processing method of the first embodiment. FIG. 13 is a flowchart illustrating a processing method of a second embodiment. FIG. 14 is a flowchart illustrating the processing method of the second embodiment. FIG. 15 is a flowchart illustrating the processing method of the second embodiment. FIG. 16 is a flowchart illustrating a processing method of a third embodiment. FIG. 17 is a flowchart illustrating the processing method of the third embodiment. FIG. 18 is a flowchart illustrating a processing method of a fourth embodiment. FIG. 19 is a graph describing the processing method of the fourth embodiment. FIG. 20 is a block diagram illustrating functional blocks of a fifth embodiment. FIG. 21 is a flowchart illustrating a processing method of the fifth embodiment. FIG. 22 is a block diagram illustrating a processing system of a sixth embodiment. FIG. 23 is a block diagram illustrating a processing system of a seventh embodiment. FIG. 24 is a block diagram illustrating a processing system of an eighth embodiment. FIG. 25 is a block diagram illustrating the processing system of the eighth embodiment. FIG. 26 is a block diagram illustrating the processing system of the eighth embodiment. FIG. 27 is a block diagram illustrating a processing system of a ninth embodiment. FIG. 28 is a block diagram illustrating a processing system of a tenth embodiment. FIG. 29 is a block diagram illustrating a processing system of a modification of the tenth embodiment. DETAILED DESCRIPTION Before describing the present disclosure, a related art will be described. In a technique disclosed in JP 6708793 B2, 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 liability based on a safety model following a driving policy and the detection information, a constraint/restriction is applied to th