Verification of motion control systems for a vehicle

A computer-implemented method for verifying primary and secondary motion control systems of an automated or semi-automated vehicle, the computer-implemented method comprising:

• sending, by processing circuitry of a computer system, a manoeuvring request to each of the primary motion control system and the secondary motion control system;
• acquiring, by the processing circuitry, a first response to the manoeuvring request for the primary motion control system;
• acquiring, by the processing circuitry, a second response to the manoeuvring request for the secondary motion control system;
• and
• determining, by the processing circuitry, if each of the first and second responses are within a threshold of a reference response;
• wherein the reference response is based on the respective manoeuvring request and/or the other of the acquired first and second responses.