{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1377749",
  "publishedAt": "2026-01-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/16",
    "Ford Global Technologies, LLC"
  ],
  "textContent": "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.",
  "title": "VEHICLE OPERATION AROUND OTHER VEHICLES"
}