Abstract: A method for an autonomous vehicle to follow a target may include obtaining a three dimensional virtual cable for an autonomous vehicle and obtaining a position and a velocity of a target. Additionally, the method may include obtaining a position of an autonomous vehicle and determining a calculated position of the autonomous vehicle based on the position and velocity of the target and based on the three dimensional virtual cable. The method may also include determining a velocity vector magnitude for the autonomous vehicle based on the calculated position, the position of the autonomous vehicle, and the three dimensional virtual cable. The method may further include determining a velocity vector for the autonomous vehicle based on the velocity vector magnitude and a line gravity vector. The method may also include adjusting a velocity and a direction of the autonomous vehicle based on the velocity vector.