Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to formulate a plurality of constraints, determine a final input modification to a nominal input that minimizes a cost function subject to the constraints, and actuate a component of a vehicle according to the nominal input and the final input modification. Each constraint indicates a respective obstacle relative to the vehicle. Each constraint is represented as a linear inequality in a two-dimensional space with dimensions for acceleration and steering angle. The nominal input includes a nominal acceleration and a nominal steering angle. The final input modification includes a final change to the nominal acceleration and a final change to the nominal steering angle. The computer determines the final input modification by individually calculating the cost function for a plurality of potential input modifications that are on the constraints.

Abstract: A computer that includes a processor and a memory, the memory including instructions executable by the processor to determine a location and a trajectory of a moving object with respect to a stationary vehicle based on one or more first stationary vehicle sensors. A threat level can be determined based on the location and the trajectory of the moving object, and a control barrier function. Based on the threat level, the stationary vehicle can be operated to move the stationary vehicle to reduce a probability of impact between the stationary vehicle and the moving object.

Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to formulate a plurality of constraints, determine a final input modification to a nominal input that minimizes a cost function subject to the constraints, and actuate a component of a vehicle according to the nominal input and the final input modification. Each constraint indicates a respective obstacle relative to the vehicle. Each constraint is represented as a linear inequality in a two-dimensional space with dimensions for acceleration and steering angle. The nominal input includes a nominal acceleration and a nominal steering angle. The final input modification includes a final change to the nominal acceleration and a final change to the nominal steering angle. The computer determines the final input modification by individually calculating the cost function for a plurality of potential input modifications that are on the constraints.

Abstract: A computer that includes a processor and a memory, the memory including instructions executable by the processor to determine a location and a trajectory of a moving object with respect to a stationary vehicle based on one or more first stationary vehicle sensors. A threat level can be determined based on the location and the trajectory of the moving object, and a control barrier function. Based on the threat level, the stationary vehicle can be operated to move the stationary vehicle to reduce a probability of impact between the stationary vehicle and the moving object.