A computer-implemented method, the method comprising: receiving motion planning data for an autonomous vehicle ; determining a first control lane (301; 401) of a plurality of control lanes (301, 302; 401-403) for implementing a motion plan based on the motion planning data, wherein the plurality of control lanes comprises at least the first control lane and a second control lane (302; 402) different than the first control lane, wherein the first control lane is connected with a first set of vehicle actuation systems (230; 311, 321, 331; 411, 421, 431, 451) corresponding to the first control lane, wherein the second control lane is connected with a second set of vehicle actuation systems (240; 322, 332; 412, 422, 432, 452) corresponding to the second control lane, wherein the first set of vehicle actuation systems comprises at least one first actuation system that is not present in the second set of vehicle actuation systems; wherein the first control lane is configured to provide a first capability based, at least in part, on the first set of vehicle actuation systems, wherein the second control lane is configured to provide a second capability based, at least in part, on the second set of vehicle actuation systems, and wherein the first capability is greater than the second capability; designating the first control lane as a primary lane and the second control lane as a secondary lane based on the first capability and the second capability; determining a fault associated with implementing the motion plan via the designated primary lane; silencing the designated primary lane; and controlling the designated secondary lane to adjust a motion of the autonomous vehicle based at least in part on the capability of the designated secondary lane. receiving motion planning data for an autonomous vehicle ; determining a first control lane (301; 401) of a plurality of control lanes (301, 302; 401-403) for implementing a motion plan based on the motion planning data, wherein the plurality of control lanes comprises at least the first control lane and a second control lane (302; 402) different than the first control lane, wherein the first control lane is connected with a first set of vehicle actuation systems (230; 311, 321, 331; 411, 421, 431, 451) corresponding to the first control lane, wherein the second control lane is connected with a second set of vehicle actuation systems (240; 322, 332; 412, 422, 432, 452) corresponding to the second control lane, wherein the first set of vehicle actuation systems comprises at least one first actuation system that is not present in the second set of vehicle actuation systems; wherein the first control lane is configured to provide a first capability based, at least in part, on the first set of vehicle actuation systems, wherein the second control lane is configured to provide a second capability based, at least in part, on the second set of vehicle actuation systems, and wherein the first capability is greater than the second capability; designating the first control lane as a primary lane and the second control lane as a secondary lane based on the first capability and the second capability; determining a fault associated with implementing the motion plan via the designated primary lane; silencing the designated primary lane; and controlling the designated secondary lane to adjust a motion of the autonomous vehicle based at least in part on the capability of the designated secondary lane. <EOS>