{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1312010",
  "publishedAt": "2022-03-03T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0956",
    "Ford Global Technologies, LLC"
  ],
  "textContent": "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.",
  "title": "VEHICLE DETECTION AND RESPONSE"
}