SUBSTANCE: invention relates to vehicle control systems. Vehicle control device comprises a peripheral information detection module, a motion state detection module, a motion controller, actuator modules, compensation range calculation module and limitation module. Motion controller controls the autonomous movement of the vehicle based on information on the periphery, the state of motion, the high-level action plan and the low-level action plan. Calculation module of the compensation range calculates the compensation range for a high-level action plan that provides the ability to move in a state, in which the performance of one of the actuator modules is degraded. Motion controller controls the autonomous movement of the vehicle based on a high-level action plan, limited by the high-level action plan limitation module, even in the state, when the performance of the actuator modules is not reduced.
EFFECT: higher vehicle safety.
8 cl, 8 dwg