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US 12,741,633 B2Granted
Processing method, processing system, and processing device
AssigneeDenso Corporation
InventorsAtsushi Baba, Tetsuya Tohdo
Life of this patent
Estimating the term…
Abstract
A processing method executed by a processor for performing a process related to driving control of a host moving object includes: monitoring an abnormality in detection information that is generated by detecting an internal and external environment of the host moving object; and in response to determining the abnormality being occurred, setting a constraint or restriction on the driving control according to the detection information using a safety model, which is in compliance with a driving policy and is generated by modeling safety of intended functionality.
Claims16
A processing method executed by a processor for performing a process related to a driving control of a host moving object, the processing method comprising:
- monitoring an abnormality in detection information that is generated by detecting an internal and external environment of the host moving object;
- and
- planning the driving control of the host moving object, wherein
- the monitoring of the abnormality includes:
- in response to determining the abnormality has occurred, setting a constraint or restriction on the driving control to maintain operation of the host moving object within a determined level of risk, wherein the constraint or restriction on the driving control is set according to the detection information using a safety model, which is in compliance with a driving policy and is generated by modeling safety of intended functionality as a computer program that executes a process according to a mathematical model, the driving policy being a strategy or rule defining control behaviors of a vehicle acceptable within a vehicle level;
- and
- intervening in the planned driving control by the set constraint or restriction, wherein
- the host moving object is equipped with a sensor system that generates the detection information as a generation source, and
- in response to determining the abnormality has occurred in a scene where a target moving object does not exist within a detection range defined by the sensor system, the safety model sets the constraint or restriction based on a reasonable action that does not cause an unreasonable situation between a virtual moving object, which is estimated to be located at a detection limit distance of the sensor system.
6 more elements
A processing system, which executes a process related to a driving control of a host moving object, the processing system comprising
- a computer-readable non-transitory storage medium;
- and
- a processor, by executing a program stored in the computer-readable non-transitory storage medium, configured to:
- monitor an abnormality in detection information that is generated by detecting an internal and external environment of the host moving object;
- and
- planning the driving control of the host moving object, wherein the monitoring of the abnormality includes:
- in response to determining the abnormality has occurred, setting a constraint or restriction on the driving control to maintain operation of the host moving object within a determined level of risk, wherein the constraint or restriction on the driving control is set according to the detection information using a safety model, which is in compliance with a driving policy and is generated by modeling safety of intended functionality as a computer program that executes a process according to a mathematical model, the driving policy being a strategy or rule defining control behaviors of a vehicle acceptable within a vehicle level;
- and
- intervening in the planned driving control by the set constraint or restriction, wherein
- the host moving object is equipped with a sensor system that generates the detection information as a generation source, and
- in response to determining the abnormality has occurred in a scene where a target moving object does not exist within a detection range defined by the sensor system, the processor sets the constraint or restriction using the safety model based on a reasonable action that does not cause an unreasonable situation between a virtual moving object, which is estimated to be located at a detection limit distance of the sensor system.
8 more elements
A computer-readable non-transitory storage medium storing instructions of a processing program to be executed by a processor, the processor performing a process related to a driving control of a host moving object by executing the instructions, the instructions comprising:
- monitoring an abnormality in detection information that is generated by detecting an internal and external environment of the host moving object;
- and
- planning the driving control of the host moving object, wherein the monitoring of the abnormality includes:
- in response to determining the abnormality has occurred, setting a constraint or restriction on the driving control to maintain operation of the host moving object within a determined level of risk, wherein the constraint or restriction on the driving control is set according to the detection information using a safety model, which is in compliance with a driving policy and is generated by modeling safety of intended functionality as a computer program that executes a process according to a mathematical model, the driving policy being a strategy or rule defining control behaviors of a vehicle acceptable within a vehicle level;
- and
- intervening in the planned driving control by the set constraint or restriction, wherein
- the host moving object is equipped with a sensor system that generates the detection information as a generation source, and
- the instructions further comprise, in response to determining the abnormality has occurred in a scene where a target moving object does not exist within a detection range defined by the sensor system, setting the constraint or restriction using the safety model based on a reasonable action that does not cause an unreasonable situation between a virtual moving object, which is estimated to be located at a detection limit distance of the sensor system.
5 more elements
A processing device mountable to a host moving object and executing a process related to a driving control of the host moving object, the processing device comprising
- a computer-readable non-transitory storage medium;
- and
- a processor, by executing a program stored in the computer-readable non-transitory storage medium, configured to:
- monitor an abnormality in detection information that is generated by detecting an internal and external environment of the host moving object;
- and
- planning the driving control of the host moving object, wherein the monitoring of the abnormality includes:
- in response to determining the abnormality has occurred, setting a constraint or restriction on the driving control to maintain operation of the host moving object within a determined level of risk, wherein the constraint or restriction on the driving control is set according to the detection information using a safety model, which is in compliance with a driving policy and is generated by modeling safety of intended functionality as a computer program that executes a process according to a mathematical model, the driving policy being a strategy or rule defining control behaviors of a vehicle acceptable within a vehicle level;
- and
- intervening in the planned driving control by the set constraint or restriction, wherein
- the host moving object is equipped with a sensor system that generates the detection information as a generation source, and
- in response to determining the abnormality has occurred in a scene where a target moving object does not exist within a detection range defined by the sensor system, the processor sets the constraint or restriction using the safety model based on a reasonable action that does not cause an unreasonable situation between a virtual moving object, which is estimated to be located at a detection limit distance of the sensor system.
8 more elements
Dependencies are inferred from the claim text.