Obstacle avoidance for vehicle having trailer

The disclosure provides obstacle avoidance for a vehicle having a trailer. A computer includes a processor and a memory, and the memory stores instructions executable by the processor to receive sensor data indicative of an obstacle, formulate a first control obstacle function for a vehicle based on the sensor data, and determine a second control obstacle function for the vehicle based on the first control obstacle function. The method further includes establishing a first control barrier function for a trailer hitched to the vehicle based on the sensor data, establishing a second control barrier function for a trailer hitched to the vehicle based on the sensor data, determining a control input based on the first control barrier function and the second control barrier function, and actuating a component of the vehicle in accordance with the control input. 本公开提供了"具有挂车的车辆的障碍物躲避"。一种计算机包括处理器和存储器，并且所述存储器存储指令，所述指令可由所述处理器执行以：接收指示障碍物的传感器数据，基于所述传感器数据制定车辆的第一控制障碍函数，基于所述传感器数据制定挂接到所述车辆的挂车的第二控制障碍函数，基于所述第一控制障碍函数和所述第二控制障碍函数确