US 12,330,633 B2
Obstacle avoidance for vehicle
Abhishek Sharma, West Bloomfield, MI (US); Michael Hafner, San Carlos, CA (US); Mohit Srinivasan, Ann Arbor, 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 17, 2022, as Appl. No. 17/746,192.
Prior Publication US 2023/0373471 A1, Nov. 23, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); B60W 50/00 (2006.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); G06V 20/58 (2022.01); B60W 2050/0022 (2013.01); B60W 2420/403 (2013.01); B60W 2554/80 (2020.02)] 18 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 control barrier function measuring a distance between a vehicle and the obstacle based on the sensor data;
determine a control input based on the control barrier function and a combination function, the combination function being a sum of a first function weighted by a first weight and a second function weighted by a second weight, the first weight and the second weight being based on a kinematic state of the obstacle;
wherein the first function is a function of the control barrier function, and the second function is a function of the control barrier function;
actuate a component of the vehicle according to the control input;
wherein determining the control input is subject to a constraint based on the control barrier function; and
the constraint is that a sum of a time derivative of the control barrier function and the combination function exceeds a value.