Methods and apparatus for anomaly detection and recovery

A non-transitory computer readable medium comprising instructions that, when executed, cause a machine to at least:

• control a reference signal of an autonomous vehicle via a first controller via a communication bus;
• control the reference signal of the autonomous vehicle via a second controller when the first controller is compromised;
• and
• neutralize messages transmitted by the first controller when the first controller is compromised, the neutralized messages to cause the first controller to become isolated from the communication bus.

A method to isolate a first controller in an autonomous vehicle, the method comprising:

• controlling, by executing an instruction with a processor, a reference signal of an autonomous vehicle via a first controller via a communication bus;
• controlling, by executing an instruction with the processor, the reference signal of the autonomous vehicle via a second controller when the first controller is compromised;
• and
• neutralizing, by executing an instruction with the processor, messages transmitted by the first controller when the first controller is compromised, the neutralized messages to cause the first controller to become isolated from the communication bus.