US 11,938,929 B2
Obstacle avoidance for vehicle with trailer
Mohit Srinivasan, Ann Arbor, MI (US); Hongtei Eric Tseng, Canton, MI (US); Li Xu, Northville, MI (US); and Craig Philip Angold-Stephens, Ann Arbor, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Dec. 15, 2021, as Appl. No. 17/551,228.
Prior Publication US 2023/0182721 A1, Jun. 15, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); G06F 17/11 (2006.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/095 (2013.01); B60W 60/0011 (2020.02); G06F 17/11 (2013.01); G06V 20/58 (2022.01); B60W 2300/14 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
receive sensor data indicating an obstacle;
formulate a first control barrier function for a vehicle based on the sensor data;
formulate a second control barrier function for a trailer hitched to the vehicle based on the sensor data;
determine a control input based on the first and second control barrier functions; and
actuate a component of the vehicle according to the control input.