Method and apparatus for off road adaptive cruise control

A method for controlling a host vehicle comprising:

• performing an adaptive cruise control function for an off road condition at a first vehicle speed;
• detecting with a sensor, an obstruction within a field of view and within a path of the host vehicle;
• performing the adaptive cruise control function at a second vehicle speed before a vehicle contact with the obstruction, wherein the second vehicle speed is slower than the first vehicle speed;
• detecting a vehicle contact with the obstruction in response to a first inertial measurement unit measurement;
• applying a brake force to a host vehicle braking system and an increased propulsion torque to a host vehicle engine;
• detecting a traverse of the obstruction in response to a second inertial measurement unit measurement;
• and
• resuming the adaptive cruise control function at the first vehicle speed in response to the detection of the traverse of the obstruction determined in response to a traverse of the obstruction of a front wheel of the host vehicle and a traverse of the obstruction of a rear wheel of the host vehicle.