A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive sensor data indicating an obstacle, formulate a control barrier function for a vehicle and the obstacle based on the sensor data, determine a control input based on the control barrier function and a combination function, and actuate a component of the vehicle according to the control input. The combination function is a sum of a first function weighted by a first weight and a second function weighted by a second weight, and the first weight and the second weight are based on a kinematic state of the obstacle.
OBSTACLE AVOIDANCE FOR VEHICLE
2023-11-23
Patent
Electronic Resource
English
European Patent Office | 2021
|European Patent Office | 2020
|European Patent Office | 2020
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