VEHICLE DETECTION AND RESPONSE

A computer is programmed to identify first and second virtual boundaries of a roadway lane based on a predicted boundary between the roadway lane and an adjacent roadway lane, determine a first constraint value based on a first virtual boundary approach acceleration, determine a second constraint value based on a second virtual boundary approach acceleration, output a prescribed steering angle, brake input, and propulsion input when one of the constraint values violates a respective threshold, and actuate components to attain the prescribed steering angle, brake input, and propulsion input. The first virtual boundary approach acceleration is based on a steering wheel angle of a vehicle and input to one of a brake or a propulsion of the vehicle. The second virtual boundary approach acceleration is based on a steering wheel angle of the vehicle and input to one of a brake or a propulsion of the vehicle.