  The advent of automated vehicles operating at SAE levels 4 and 5 poses high
fault tolerance demands for all functions contributing to the driving task. At
the actuator level, fault-tolerant vehicle motion control, which exploits
functional redundancies among the actuators, is one means to achieve the
required degree of fault tolerance. Therefore, we give a comprehensive overview
of the state of the art in actuator fault-tolerant vehicle motion control with
a focus on drive, brake, and steering degradations, as well as tire blowouts.
This review shows that actuator fault-tolerant vehicle motion is a widely
studied field; yet, the presented approaches differ with respect to many
aspects. To provide a starting point for future research, we survey the
employed actuator topologies, the tolerated degradations, the presented control
approaches, as well as the experiments conducted for validation. Overall, and
despite the large number of different approaches, the covered literature
reveals the potential of increasing fault tolerance by fault-tolerant vehicle
motion control. Thus, besides developing novel approaches or demonstrating
real-time applicability, future research should aim at investigating
limitations and enabling comparison of fault-tolerant motion control approaches
in order to allow for a thorough safety argumentation.

Systems and Control;Robotics;Systems and Control