A computer-implemented method for controlling an autonomous vehicle , the method comprising: receiving, by a computing system comprising one or more computing devices , data representing a motion plan of the autonomous vehicle and dynamic state of the autonomous vehicle via a plurality of control lanes (301, 302; 401-403) configured to implement the motion plan to control a motion of the autonomous vehicle, the plurality of control lanes including at least a first control lane (301; 401) and a second control lane (302; 402); controlling, by the computing system, the first control lane to implement the motion plan; detecting, by the computing system, one or more faults associated with implementation of the motion plan by the first control lane, characterized in that the method further comprises: updating, by the computing system, a capability of the first control lane based on one or more fault reaction parameters associated with the one or more faults; determining, by the computing system, whether the updated capability of the first control lane is greater than a capability of the second control lane; if it is determined that the updated capability of the first control lane is greater than the capability of the second control lane, controlling the first control lane to adjust a motion of the autonomous vehicle; otherwise controlling, by the computing system, the second control lane to adjust the motion of the autonomous vehicle. receiving, by a computing system comprising one or more computing devices , data representing a motion plan of the autonomous vehicle and dynamic state of the autonomous vehicle via a plurality of control lanes (301, 302; 401-403) configured to implement the motion plan to control a motion of the autonomous vehicle, the plurality of control lanes including at least a first control lane (301; 401) and a second control lane (302; 402); controlling, by the computing system, the first control lane to implement the motion plan; detecting, by the computing system, one or more faults associated with implementation of the motion plan by the first control lane, characterized in that the method further comprises: updating, by the computing system, a capability of the first control lane based on one or more fault reaction parameters associated with the one or more faults; determining, by the computing system, whether the updated capability of the first control lane is greater than a capability of the second control lane; if it is determined that the updated capability of the first control lane is greater than the capability of the second control lane, controlling the first control lane to adjust a motion of the autonomous vehicle; otherwise controlling, by the computing system, the second control lane to adjust the motion of the autonomous vehicle. updating, by the computing system, a capability of the first control lane based on one or more fault reaction parameters associated with the one or more faults; determining, by the computing system, whether the updated capability of the first control lane is greater than a capability of the second control lane; if it is determined that the updated capability of the first control lane is greater than the capability of the second control lane, controlling the first control lane to adjust a motion of the autonomous vehicle; otherwise controlling, by the computing system, the second control lane to adjust the motion of the autonomous vehicle. <EOS>