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 control barrier functions for a host vehicle, each control barrier function based on a respective kinematic state of a respective target vehicle; determine respective CBF input accelerations based on the respective control barrier functions; formulate a control-Lyapunov function for the host vehicle based on a target speed for the host vehicle; determine a Lyapunov input acceleration based on the control-Lyapunov function; select an input acceleration from an acceleration set including the CBF input accelerations and the Lyapunov input acceleration; and actuate a component of the host vehicle according to the selected input acceleration.

Abstract: While operating a host vehicle in a lane of a road, a target vehicle operating in the lane in front of the host vehicle is represented with a virtual vehicle. Upon receiving, from an infrastructure element, operation data describing vehicle operation for the road, acceleration of the target vehicle is predicted based on the operation data. An adjustment to a speed for the virtual vehicle is determined based on the acceleration. The virtual vehicle is updated based on the adjustment to the speed. Upon determining that the virtual vehicle is between the target vehicle and the host vehicle, the host vehicle is operated based on the virtual vehicle.

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 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 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 method for marshalling a vehicle includes: receiving signals from a set of infrastructure sensors associated with a vehicle management system; processing the signals from the set of infrastructure sensors and the signals from one or more sensors on-board the vehicle; sending the processed signals to the vehicle as one or more vehicle commands; receiving signals from the one or more sensors on-board the vehicle; and processing the one or more vehicle commands and the signals from the one or more sensors on-board the vehicle to generate new commands that are sent to the vehicle to marshal the vehicle to a location.

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 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: Zone-based unmanned aerial vehicle landing systems and methods are provided herein. An example method includes establishing a plurality of operational zones, each of the plurality of operational zones being associated with a range of altitudes, guiding an unmanned aerial vehicle (UAV) through each of a plurality of operational zones to land the UAV on a target location using sensors, wherein the sensors are configured to sense a distance between the UAV to the target location, further wherein portions of the sensors are configured for use at different altitudes, and determining an error for the UAV during landing, wherein the UAV retreats to a higher altitude operational zone when the error is determined.

Abstract: Zone-based unmanned aerial vehicle landing systems and methods are provided herein. An example method includes establishing a plurality of operational zones, each of the plurality of operational zones being associated with a range of altitudes, guiding an unmanned aerial vehicle (UAV) through each of a plurality of operational zones to land the UAV on a target location using sensors, wherein the sensors are configured to sense a distance between the UAV to the target location, further wherein portions of the sensors are configured for use at different altitudes, and determining an error for the UAV during landing, wherein the UAV retreats to a higher altitude operational zone when the error is determined.

Abstract: Methods and systems are provided for estimating engine oil temperature during conditions when sensors used for engine oil temperature measurement are not functional or not reliable. A null duty cycle of a solenoid spool valve of a variable cam timing mechanism is estimated. Then, a calibrated relationship between the duty cycle, an angular velocity of the associated cam, and the engine oil temperature is used to estimate an engine oil temperature when existing sensors used in the calculation of engine oil temperature calculation become unreliable.

Abstract: Methods and systems are provided for controlling a variable camshaft timing system. In one example, a method may include actuating a camshaft phaser with a camshaft duty cycle determined based on a sampled camshaft position and an estimated camshaft position, the estimated camshaft position determined based on a previously determined camshaft duty cycle.

Abstract: Methods and systems are provided for estimating engine oil temperature during conditions when sensors used for engine oil temperature measurement are not functional or not reliable. A null duty cycle of a solenoid spool valve of a variable cam timing mechanism is estimated. Then, a calibrated relationship between the duty cycle, an angular velocity of the associated cam, and the engine oil temperature is used to estimate an engine oil temperature when existing sensors used in the calculation of engine oil temperature calculation become unreliable.

Abstract: Methods and systems are provided for controlling a variable camshaft timing system. In one example, a method may include actuating a camshaft phaser with a camshaft duty cycle determined based on a sampled camshaft position and an estimated camshaft position, the estimated camshaft position determined based on a previously determined camshaft duty cycle.