{
  "$type": "site.standard.document",
  "description": "A computer includes a processor and a memory, and the memory stores instructions executable by the processor to determine a threat number based on sensor data indicating an obstacle, the threat number representing a risk of an impact between a vehicle and the obstacle; formulate a control barrier…",
  "path": "/patents/1376337",
  "publishedAt": "2025-07-24T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "Ford Global Technologies, LLC"
  ],
  "textContent": "A computer includes a processor and a memory, and the memory stores instructions executable by the processor to determine a threat number based on sensor data indicating an obstacle, the threat number representing a risk of an impact between a vehicle and the obstacle; formulate a control barrier function based on sensor data indicating the obstacle; determine a control input based on an expression including the control barrier function and the threat number; and actuate a component of the vehicle according to the control input.",
  "title": "VEHICLE OPERATION AROUND OBSTACLES"
}