What does the Japanese Self-Defense Force's charter allow in cases like this? Are they allowed to launch attacks on foreign soil in response to immediate threat

What does the Japanese Self-Defense Force's charter allow in cases like this? Are they allowed to launch attacks on foreign soil in response to immediate threats, or do they need to appeal to the US/allies to do it for them? (Not that there's much they could usefully do to NK, AFAIK, but I'm curious about the principle.)