VEHICLE OPERATION AROUND OTHER VEHICLES

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.