Method of using a single controller (ECU) for a fault-tolerant/fail-operational self-driving system

A control system comprising:

• a first sensor;
• a second sensor;
• a third sensor;
• at least one input bus connected to the first sensor, the second sensor, and the third sensor;
• an electronic controller comprising a first processor, a second processor, and a third processor each coupled to the at least one input bus;
• wherein the first processor, the second processor, and the third processor each independently process signals from the at least one input bus to provide control signals;
• the first processor providing first control signals in response to a first combination of the first sensor, the second sensor, and the third sensor;
• the second processor providing second control signals in response to a second combination of the first sensor, the second sensor, and the third sensor different from the first combination;
• the third processor providing third control signals in response to a third combination of the first sensor, the second sensor, and the third sensor different from at least one of the first combination or the second combination;
• and
• an intelligent control signal arbitrator that receives the first control signals, the second control signals, and the third control signals and arbitrates between them to perform at least one control function.