Method and apparatus for monitoring of an autonomous vehicle

摘要: An autonomic vehicle control system includes a perception module of spatial monitoring that is disposed to monitor environment proximal the autonomous vehicle. A method for evaluating dynamics operation determining desired trajectory vehicle, wherein positions including an x-position, y-position and heading. Vehicle commands are determined based upon trajectory, include commanded steering angle, acceleration command braking command. Actual states responsive determined. estimated actual states, error difference between trajectory. The monitored over time horizon, first state health (SOH) horizon.