| CPC B60W 30/09 (2013.01) [B60W 2520/06 (2013.01); B60W 2710/18 (2013.01)] | 18 Claims |
|
1. A computer comprising a processor and a memory, the memory storing instructions executable by the processor to:
receive sensor data indicating an obstacle;
determine a reference point that is spaced from a centroid of a vehicle based on whether the vehicle is in a forward gear or a reverse gear;
formulate a control barrier function for the vehicle based on the sensor data, the control barrier function being defined with respect to the reference point;
determine a control input based on the control barrier function, wherein determining the control input is subject to a constraint based on the control barrier function, the constraint being that a sum exceeds a first value, the sum being of a time derivative and a function, the time derivative being of the control barrier function, the function being of the control barrier function; and
actuate a component of the vehicle according to the control input.
|