System and method for guidance integrity monitoring for low-integrity modules

A system for integrity monitoring, the system comprising:

• one or more controllers including one or more processors configured to execute a set of program instructions stored in a memory, the set of program instructions configured to cause the one or more processors to:
• generate primary control output via a primary module, the primary control output configured to be used to control an autonomous vehicle (AV);
• receive situational data comprising AV data and environmental data;
• generate, using a monitor module configured to monitor the AV, a set of fallback actions based on at least the situational data;
• and
• generate, using the monitor module, a fallback status based on at least the set of fallback actions,
• wherein the fallback status is configured to correspond to a determination of whether to override the primary control output,
• wherein the monitor module comprises one or more sub-monitors,
• wherein each fallback action of the set of fallback actions comprises one or more safety margin data,
• wherein each of the one or more safety margin data for the each fallback action is based on at least the situational data and the each fallback action, and is generated via a sub-monitor of the one or more sub-monitors.