{
  "$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 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…",
  "path": "/patents/1375764",
  "publishedAt": "2025-06-05T00:00:00.000Z",
  "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 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.",
  "title": "VEHICLE OPERATION AROUND OBSTACLES"
}