Vehicles, methods and non-transitory computer-readable media for dynamic operating boundary generation

A method, comprising:

• determining a position of an obstacle to a follower vehicle;
• generating an operating boundary of the follower vehicle based on the position of the obstacle, a relative position of the follower vehicle to a leader vehicle, and characteristics of the follower vehicle and the leader vehicle;
• and
• controlling a steering angle of a steering actuator based on the operating boundary.

A non-transitory computer-readable medium storing instructions that, when executed by at least one processor of a follower vehicle, cause the at least one processor to perform a method, the method comprising:

• determining a position of an obstacle to the follower vehicle;
• generating an operating boundary of the follower vehicle based on the position of the obstacle, a relative position of the follower vehicle to a leader vehicle, and characteristics of the follower vehicle and the leader vehicle;
• and
• controlling a steering angle of a steering actuator based on the operating boundary.