CPC B60W 60/0018 (2020.02) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] | 17 Claims |
1. A method of operating a vehicle, comprising:
measuring a degradation in an operation parameter of the vehicle, the vehicle operating in a first state based on a first value of an adaptive parameter;
determining a threat to the vehicle due to operating the vehicle in the first state with the degradation in the operation parameter;
adjusting the adaptive parameter from the first value to a second value that mitigates the threat to the vehicle;
simulating a second state by simulating a perturbation to the adaptive parameter from the first value to the second value;
identifying the degradation in a planning module or a control module of the vehicle; and
operating the vehicle in the second state based on the second value.
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