FAULT-TOLERANT CONTROL OF AN AUTONOMOUS VEHICLE WITH MULTIPLE CONTROL LANES

An autonomous vehicle control system, an autonomous vehicle, and a computer-implemented method are provided. One aspect of the present disclosure relates to an autonomous vehicle control system comprising one or more processors and one or more tangible, non-transitory, computer readable media that store instructions that when executed by the one or more processors cause the autonomous vehicle control system to perform operations. The operations of the aspect comprise receiving motion planning data for the vehicle and determining a first control lane of a plurality of control lanes for implementing a motion plan based on the motion planning data. The plurality of control lanes of the aspect comprise at least the first control lane and a second control lane different than the first control lane, wherein the first control lane is connected with a first set of vehicle actuation systems corresponding to the first control lane, wherein the second control lane is connected with a second set of vehicle actuation systems corresponding to the second control lane, wherein the first set of vehicle actuation systems comprise at least one first actuation system that is not present in the second set of vehicle actuation systems. The operations of the aspect further comprise determining one or more conditions associated with the vehicle and controlling the first control lane or the second control lane to adjust a motion of the vehicle based at least in part on the one or more conditions.