Vehicle detection and response

A method, comprising:

• identifying a target vehicle to be monitored;
• identifying first and second virtual boundaries on a roadway based on a position of the target vehicle;
• determining a first constraint value based on (1) a first boundary approach velocity of the target vehicle including a heading angle of the target vehicle and (2) a first boundary approach acceleration of the target vehicle including a steering angle of the target vehicle;
• determining a second constraint value based on (1) a second boundary approach velocity of the target vehicle including the heading angle of the target vehicle and (2) a second boundary approach acceleration of the target vehicle including the steering angle of the target vehicle;
• identifying a maneuver of the target vehicle based on whether the first constraint value violates a first threshold, the second constraint value violates a second threshold, or a position of the target vehicle relative to the first and second virtual boundaries violates a third threshold;
• and
• adjusting a path of a host vehicle to avoid the target vehicle according to the identified maneuver.

A system, comprising:

• a host vehicle including a propulsion, a brake, and a steering;
• a target vehicle;
• means for identifying first and second virtual boundaries on a roadway based on a position of the target vehicle;
• means for determining a first constraint value based on (1) a first boundary approach velocity of the target vehicle including a heading angle of the target vehicle and (2) a first boundary approach acceleration of the target vehicle including a steering angle of the target vehicle;
• means for determining a second constraint value based on (1) a second boundary approach velocity of the target vehicle including the heading angle of the target vehicle and (2) a second boundary approach acceleration of the target vehicle including the steering angle of the target vehicle;
• means for identifying a maneuver of the target vehicle based on whether the first constraint value violates a first threshold, the second constraint value violates a second threshold, or a position of the target vehicle relative to the first and second virtual boundaries violates a third threshold;
• and
• means for actuating at least one of the propulsion, the brake, or the steering of the host vehicle to avoid the target vehicle according to the identified maneuver.