Vehicle deceleration control

A system comprising a computer including a processor and a memory, the memory storing instructions executable by the processor such that the computer is programmed to:

• determine a target location for a vehicle;
• based on a vehicle speed and a distance to the target location, determine a tunable acceleration parameter;
• determine a constraint, based on the tunable acceleration parameter, for a control barrier function to that outputs an acceleration to stop the vehicle at the target location;
• and
• upon solving the control barrier function to satisfy the constraint, actuate the vehicle to decelerate based on the acceleration output from the control barrier function.