Vehicle path adjustment using a virtual boundary that is based on a shape of a vehicle body

1. A system for detecting a road surface, comprising a processor and a memory, the memory storing instructions executable by the processor to:

determine a virtual boundary for a vehicle body based on a shape of the vehicle body defined according to a projection of the vehicle body on a ground surface, wherein the instructions to determine the virtual boundary further include instructions to specify the virtual boundary by specifying a function that determines lengths of virtual lines from a reference point inside the shape of the vehicle body and a point on the shape at respective orientations of the virtual line relative to a reference line;

identify one or more objects based on vehicle sensor data;

based on the identified one or more objects, the determined virtual boundary, and an input to at least one of propulsion, steering, or braking, determine at least one of a braking override or a steering override;

and based on the determination, perform at least one of adjusting a vehicle steering and a vehicle speed.

2. The system of claim 1 , wherein the instructions to determine the at least one of the braking override or the steering override include instructions to perform an optimization operation on a control barrier function including a distance function and a derivative of the distance function, wherein the distance function is defined, at an orientation of a line extending from a reference point of the virtual boundary to the one or more objects, based on a length of the line from the one or more objects to an intersection with the virtual boundary.

3. The system of claim 2 , wherein the instructions further include instructions to determine the derivative of the distance function based on a derivative of distance of a virtual line extending from the virtual boundary to the one or more objects and a derivative of the orientation of the virtual line relative to a virtual reference line.

4. The system of claim 1 , wherein the instructions further include instructions to determine the braking override further based on a maximum specified deceleration.

5. The system of claim 1 , wherein the instructions further include instructions to determine the steering override further based on a maximum specified steering.

6. The system of claim 1 , wherein the input to at least one of propulsion, steering, or braking is received from at least one of a vehicle operator or an autonomous vehicle control system.

7. A method for detecting a road surface, comprising:

determining a virtual boundary for a vehicle body based on a shape of the vehicle body defined according to a projection of the vehicle body on a ground surface, wherein determining the virtual boundary further includes specifying the virtual boundary by specifying a function that determines lengths of virtual lines from a reference point inside the shape of the vehicle body and a point on the shape at respective orientations of the virtual line relative to a reference line;

identifying one or more objects based on vehicle sensor data;

based on the identified one or more objects, the determined virtual boundary, and an input to at least one of propulsion, steering, or braking, determining at least one of a braking override or a steering override; and

based on the determination, performing at least one of adjusting a vehicle steering and a vehicle speed.

8. The method of claim 7 , wherein determining the at least one of the braking override or the steering override further includes performing an optimization operation on a control barrier function including a distance function and a derivative of the distance function, wherein the distance function is defined, at an orientation of a line extending from a reference point of the virtual boundary to the one or more objects, based on a length of the line from the one or more objects to an intersection with the virtual boundary.

9. The method of claim 8 , further comprising determining the derivative of the distance function based on a derivative of distance of a virtual line extending from the virtual boundary to the one or more objects and a derivative of the orientation of the virtual line relative to a virtual reference line.

10. The method of claim 7 , further comprising determining the braking override further based on a maximum specified deceleration.

11. The method of claim 7 , further comprising determining the steering override further based on a maximum specified steering.

12. The method of claim 7 , further comprising receiving the input to at least one of propulsion, steering, or braking from at least one of a vehicle operator or an autonomous vehicle control system.

13. The system of claim 1 , wherein the projection is determined from features on the vehicle body that are at different respective heights from a ground surface.

14. The system of claim 1 , wherein the instructions to determine the virtual boundary further include instructions to specify the virtual boundary by specifying points on the virtual boundary according to a specified distance from respective nearest points on the vehicle body.

15. The method of claim 7 , wherein the projection is determined from features on the vehicle body that are at different respective heights from a ground surface.

16. The method of claim 7 , determining the virtual boundary includes specifying the virtual boundary by specifying points on the virtual boundary according to a specified distance from respective nearest points on the vehicle body.