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 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 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 computer includes a processor and a memory storing instructions executable by the processor to determine, for a host vehicle operating in a first operation mode, a first operation mode transition location based on a time to transition the host vehicle from the first operation mode to a second operation mode, a current speed of the host vehicle, and a distance from the host vehicle to an operation mode transition boundary location, to determine a second operation mode transition location that is a specified distance from the first operation mode transition location, the specified distance based on the current host vehicle speed, to transition from the first operation mode to the second operation mode upon reaching the first operation mode transition location, and to transition from the second operation mode to the first operation mode when the second operation mode transition location is between a current location of the host vehicle and the operation mode transition boundary location.

Abstract: A computer includes a processor and a memory storing instructions executable by the processor to determine, for a host vehicle operating in a first operation mode, a first operation mode transition location based on a time to transition the host vehicle from the first operation mode to a second operation mode, a current speed of the host vehicle, and a distance from the host vehicle to an operation mode transition boundary location, to determine a second operation mode transition location that is a specified distance from the first operation mode transition location, the specified distance based on the current host vehicle speed, to transition from the first operation mode to the second operation mode upon reaching the first operation mode transition location, and to transition from the second operation mode to the first operation mode when the second operation mode transition location is between a current location of the host vehicle and the operation mode transition boundary location.