Processing method, processing system, and storage medium

A processing method executed by a processor for performing processing related to driving control of a host vehicle, the processing method comprising:

• acquiring detection information indicating a state detected in a traveling environment of the host vehicle;
• setting a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitoring a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle and a comparison of a velocity of the host vehicle and one or more limit values set with respect to the velocity of the host vehicle,
• wherein
• when the target vehicle is a front vehicle and the host vehicle is a rear vehicle, the safety envelope is calculated based on a velocity and a maximum deceleration of the front vehicle, and a velocity, a maximum acceleration, and a minimum deceleration of the rear vehicle, and
• when the minimum deceleration of the rear vehicle is set to be larger than the maximum deceleration of the front vehicle, the one or more limit values set with respect to the velocity of the host vehicle includes an upper limit velocity calculated by mathematical formula 1 as follows:
• v
• limit
• =
• b
• f
• ⁢
• (
• a
• r
• +
• b
• r
• )
• ⁢
• ρ
• +
• b
• r
• ⁢
• b
• f
• ⁢
• {
• 2
• ⁢
• L
• ⁢
• (
• b
• r
• -
• b
• f
• )
• +
• (
• a
• r
• +
• b
• f
• )
• ⁢
• (
• a
• r
• +
• b
• r
• )
• ⁢
• ρ
• 2
• }
• (
• b
• r
• -
• b
• f
• )
• (
• Mathematical
• ⁢
• formula
• ⁢
• 1
• )
• where vlimit is the upper limit velocity, bf is the maximum deceleration of the front vehicle, ar is the maximum acceleration of the rear vehicle, br is the minimum deceleration of the rear vehicle, ρ is a response time, and L is a vehicle length of the host vehicle.

A processing method executed by a processor for performing processing related to driving control of a host vehicle, the processing method comprising:

• acquiring detection information indicating a state detected in a traveling environment of the host vehicle;
• setting a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitoring a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle,
• wherein
• when the host vehicle is a rear vehicle, a stop distance is defined as S,
• when the host vehicle is a front vehicle, a stop distance is defined as P,
• a total length of the host vehicle is defined as L, and
• the boundary, the margin, or the buffer area is defined to satisfy P−S−L≤0.

A processing system that performs processing related to driving control of a host vehicle, the processing system comprising:

• a processor configured to:
• acquire detection information indicating a state detected in a traveling environment of the host vehicle;
• set a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitor a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle,
• wherein
• when the target vehicle is a front vehicle and the host vehicle is a rear vehicle, the safety envelope is calculated based on a velocity and a maximum deceleration of the front vehicle, and a velocity, a maximum acceleration, and a minimum deceleration of the rear vehicle, and
• the minimum deceleration of the rear vehicle is set to be equal to or less than the maximum deceleration of the front vehicle.

A processing system that performs processing related to driving control of a host vehicle, the processing system comprising:

• a processor configured to:
• acquire detection information indicating a state detected in a traveling environment of the host vehicle;
• set a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitor a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle and a comparison of a velocity of the host vehicle and one or more limit values set with respect to the velocity of the host vehicle,
• wherein
• when the target vehicle is a front vehicle and the host vehicle is a rear vehicle, the safety envelope is calculated based on a velocity and a maximum deceleration of the front vehicle, and a velocity, a maximum acceleration, and a minimum deceleration of the rear vehicle, and
• when the minimum deceleration of the rear vehicle is set to be larger than the maximum deceleration of the front vehicle, the one or more limit values set with respect to the velocity of the host vehicle includes an upper limit velocity calculated by mathematical formula 1 as follows:
• v
• limit
• =
• b
• f
• ⁢
• (
• a
• r
• +
• b
• r
• )
• ⁢
• ρ
• +
• b
• r
• ⁢
• b
• f
• ⁢
• {
• 2
• ⁢
• L
• ⁢
• (
• b
• r
• -
• b
• f
• )
• +
• (
• a
• r
• +
• b
• f
• )
• ⁢
• (
• a
• r
• +
• b
• r
• )
• ⁢
• ρ
• 2
• }
• (
• b
• r
• -
• b
• f
• )
• (
• Mathematical
• ⁢
• formula
• ⁢
• 1
• )
• where vlimit is the upper limit velocity, bf is the maximum deceleration of the front vehicle, ar is the maximum acceleration of the rear vehicle, br is the minimum deceleration of the rear vehicle, ρ is a response time, and L is a vehicle length of the host vehicle.

A processing system that performs processing related to driving control of a host vehicle, the processing system comprising:

• a processor configured to:
• acquire detection information indicating a state detected in a traveling environment of the host vehicle;
• set a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitor a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle,
• wherein
• when the host vehicle is a rear vehicle, a stop distance is defined as S,
• when the host vehicle is a front vehicle, a stop distance is defined as P,
• a total length of the host vehicle is defined as L, and
• the boundary, the margin, or the buffer area is defined to satisfy P−S−L≤0.

A computer-readable non-transitory storage medium storing a processing program for performing processing related to driving control of a host vehicle, the processing program comprising instruction to be executed by a processor, the instructions comprising:

• acquiring detection information indicating a state detected in a traveling environment of the host vehicle;
• setting a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitoring a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle,
• wherein
• when the target vehicle is a front vehicle and the host vehicle is a rear vehicle, the safety envelope is calculated based on a velocity and a maximum deceleration of the front vehicle, and a velocity, a maximum acceleration, and a minimum deceleration of the rear vehicle, and
• the minimum deceleration of the rear vehicle is set to be equal to or less than the maximum deceleration of the front vehicle.

A computer-readable non-transitory storage medium storing a processing program for performing processing related to driving control of a host vehicle, the processing program comprising instructions to be executed by a processor, the instructions comprising:

• acquiring detection information indicating a state detected in a traveling environment of the host vehicle;
• setting a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitoring a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle and a comparison of a velocity of the host vehicle and one or more limit values set with respect to the velocity of the host vehicle,
• wherein
• when the target vehicle is a front vehicle and the host vehicle is a rear vehicle, the safety envelope is calculated based on a velocity and a maximum deceleration of the front vehicle, and a velocity, a maximum acceleration, and a minimum deceleration of the rear vehicle, and
• when the minimum deceleration of the rear vehicle is set to be larger than the maximum deceleration of the front vehicle, the one or more limit values set with respect to the velocity of the host vehicle includes an upper limit velocity calculated by mathematical formula 1 as follows:
• v
• limit
• =
• b
• f
• ⁢
• (
• a
• r
• +
• b
• r
• )
• ⁢
• ρ
• +
• b
• r
• ⁢
• b
• f
• ⁢
• {
• 2
• ⁢
• L
• ⁢
• (
• b
• r
• -
• b
• f
• )
• +
• (
• a
• r
• +
• b
• f
• )
• ⁢
• (
• a
• r
• +
• b
• r
• )
• ⁢
• ρ
• 2
• }
• (
• b
• r
• -
• b
• f
• )
• (
• Mathematical
• ⁢
• formula
• ⁢
• 1
• )
• where vlimit is the upper limit velocity, bf is the maximum deceleration of the front vehicle, ar is the maximum acceleration of the rear vehicle, br is the minimum deceleration of the rear vehicle, ρ is a response time, and L is a vehicle length of the host vehicle.

A computer-readable non-transitory storage medium storing a processing program for performing processing related to driving control of a host vehicle, the processing program comprising instructions to be executed by a processor, the instructions comprising:

• acquiring detection information indicating a state detected in a traveling environment of the host vehicle;
• setting a safety envelope, wherein the setting of the safety envelope includes defining a boundary, a margin, or a buffer area around the host vehicle;
• and
• monitoring a violation of the safety envelope based on a comparison of the safety envelope and a positional relationship between the host vehicle and a target vehicle,
• wherein
• when the host vehicle is a rear vehicle, a stop distance is defined as S,
• when the host vehicle is a front vehicle, a stop distance is defined as P,
• a total length of the host vehicle is defined as L, and
• the boundary, the margin, or the buffer area is defined to satisfy P−S−L≤0.