Autonomous tracking based on radius

A method comprising:

• determining, with a controller, a radius of a virtual sphere around a vehicle based on a configuration of a camera on the vehicle;
• determining, with the controller, a distance between a vehicle position of the vehicle and a previous target position of the vehicle;
• determining, with the controller, an intersection between a target path of the previous target position and a subject path of a subject position of a subject relative to the virtual sphere around the vehicle;
• setting a determined intersection where a vehicle path of the vehicle and the subject path of the subject intersect;
• and
• moving the vehicle towards the determined intersection of the vehicle path and the subject path.

A vehicle comprising:

• a body;
• a controller coupled to the body, the controller configured to:
• determine a radius of a virtual sphere around the vehicle based on a velocity of the vehicle,
• determine a distance between a vehicle position of the vehicle and a previous target position of the vehicle;
• determine an intersection between a target path of the previous target position, a subject path of a subject position of a subject relative to the vehicle, and a surface of the virtual sphere around the vehicle;
• and
• set the intersection where a vehicle path of the vehicle and the subject path of the subject intersect;
• and
• a vehicle controller interface module coupled to the body, the vehicle controller interface module configured to move the vehicle towards the intersection.