A hierarchical controller for dealing with faults and adverse environmental conditions on an automated highway system is proposed. The controller extends a previous control hierarchy designed to work under normal conditions of operation. The faults are classified according to the capabilities remaining on the vehicle or roadside after the fault has occurred. Information about these capabilities is used by supervisors in each of the layers of the hierarchy to select appropriate fault handling strategies. We outline the strategies needed by the supervisors and give examples of their detailed operation.
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