Abstract: A computer includes 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 for a vehicle based on the sensor data, determine a control input based on the control barrier function, and actuate a component of the vehicle according to the control input. The control barrier function is defined with respect to a reference point that is spaced from a centroid of the vehicle.

Abstract: A system includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual barrier around a vehicle based on receiving a first user input and data indicating a vehicle sprung mass, upon receiving a second user input selecting the virtual barrier, to determine an updated virtual barrier based on the received second user input, upon determining the virtual barrier, to verify that the virtual barrier satisfies one or more vehicle parameters; and to provide output based on the virtual barrier.

Abstract: 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.

Abstract: A system for detecting a road surface includes a computer programmed to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, upon identifying an object, to identify a plurality of points on the object based on received sensor data, to 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 functions, (ii) the determined virtual boundary of the vehicle, and (iii) an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to adjust at least one of a vehicle steering or a vehicle speed.

Abstract: A system for detecting a road surface includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, to identify one or more objects based on vehicle sensor data, based on the identified one or more objects, the determined virtual boundary, and an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to perform at least one of adjusting a vehicle steering and a vehicle speed.

Abstract: A computer includes a processor and a memory storing instructions executable by the processor to receive sensor data indicating a current position of an object, determine a predicted position of the object at a future time, and instruct a component of a vehicle to actuate based on the current position being in a first zone of a plurality of zones surrounding the vehicle and the predicted position being in a second zone of the plurality of zones different than the first zone. The zones are nonoverlapping and have preset boundaries relative to the vehicle.

Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to generate a first map, based on vehicle sensor data, of a free space on a roadway in which a first vehicle can operate without contacting roadway edges and non-stationary objects on the roadway, the first map including roadway lane markings in an environment around the first vehicle, wherein the non-stationary objects include one or more second vehicles and generate a second map of free space in the environment around the first vehicle by determining B-splines corresponding to first roadway lanes based on the roadway lane markings and the roadway edges included in the first map. The instructions include further instructions to determine second roadway lanes based on determining locations of the non-stationary objects, determine combined roadway lanes based on the first roadway lanes and the second roadway lanes and operate the first vehicle based on the combined roadway lanes.

Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to generate a first map, based on vehicle sensor data, of a free space on a roadway in which a first vehicle can operate without contacting roadway edges and non-stationary objects on the roadway, the first map including roadway lane markings in an environment around the first vehicle, wherein the non-stationary objects include one or more second vehicles and generate a second map of free space in the environment around the first vehicle by determining B-splines corresponding to first roadway lanes based on the roadway lane markings and the roadway edges included in the first map. The instructions include further instructions to determine second roadway lanes based on determining locations of the non-stationary objects, determine combined roadway lanes based on the first roadway lanes and the second roadway lanes and operate the first vehicle based on the combined roadway lanes.