US 12,296,845 B2
Vehicle path adjustment with control barrier function
Michael Hafner, San Carlos, CA (US); Mohit Srinivasan, Ann Arbor, MI (US); Abhishek Sharma, West Bloomfield, MI (US); Mrdjan J. Jankovic, Birmingham, MI (US); Erol Dogan Sumer, Ann Arbor, MI (US); Alexander Jaeckel, Ann Arbor, MI (US); and Aakar Mehra, Ann Arbor, MI (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on May 23, 2022, as Appl. No. 17/750,434.
Application 17/750,434 is a continuation in part of application No. 17/527,207, filed on Nov. 16, 2021.
Prior Publication US 2023/0150532 A1, May 18, 2023
Int. Cl. B60W 10/20 (2006.01); B60W 10/18 (2012.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 2554/20 (2020.02); B60W 2554/402 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/80 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A system for detecting a road surface, comprising a processor and a memory, the memory storing instructions executable by the processor to:
determine a virtual boundary for a vehicle body based on a shape of the vehicle body;
upon identifying an object, identify a plurality of points on the object based on received sensor data;
determine a barrier function based on each of the identified plurality of points, wherein the barrier function includes a barrier distance from a reference point of the virtual boundary of the vehicle to a respective one of the points on the object;
based on (i) the determined barrier function, (ii) the determined virtual boundary of the vehicle, and (iii) an input to at least one of propulsion, steering, or braking, determine at least one of a braking override or a steering override by solving an optimization problem including the barrier functions and one or more constraints including at least one of a maximum deceleration threshold, a maximum acceleration threshold, and a maximum steering angle; and
based on the determination, adjust at least one of a vehicle steering or a vehicle speed.