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 |
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.
|