Patent ID: 11891061
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
identify a lateral virtual boundary for a host vehicle based on a lateral distance between the host vehicle and a target vehicle, a longitudinal distance between the host vehicle and the target vehicle, and a speed of the target vehicle relative to the host vehicle;
identify a forward virtual boundary for the host vehicle based on the longitudinal distance between the host vehicle and the target vehicle;
determine a lateral constraint value of the lateral virtual boundary based on a lateral boundary speed, the lateral boundary speed based on a heading angle of the host vehicle;
determine a forward constraint value of the forward virtual boundary based on the heading angle of the host vehicle;
determine a lane boundary and a lane constraint value based on the lane boundary;
determine a lane boundary acceleration based on the heading angle of the host vehicle and a current steering angle of the host vehicle;
determine a longitudinal acceleration and a to-be-attained steering angle based on the lateral and forward virtual boundaries and the lateral and forward constraint values, wherein the to-be-attained steering angle is determined further based on the lane constraint value and a lane boundary acceleration; and
actuate one or both of a steering component or a brake based on the longitudinal acceleration and the steering angle.