Method for controlling an autonomous vehicle, and vehicle

A vehicle comprising:

• a plurality of subsystems;
• a motion control unit;
• a monitoring system;
• said motion control unit being configured to automatically determine a setpoint trajectory depending on at least one of a mission specification and a route specification, and to communicate automatically with at least some of the plurality of subsystems of the vehicle and/or to automatically activate at least some of the plurality of subsystems of the vehicle depending on the setpoint trajectory such that the vehicle moves along a road from a starting point to a destination point in order to implement the at least one of the mission specification and the route specification;
• said monitoring system being configured to:
• monitor at least one of the plurality of subsystems of the vehicle for the presence of a fault and, if at least one fault has been detected in the at least one monitored subsystem, as a result of which the subsystem concerned can be operated only at a reduced functional level:
• classifying at least one fault into a fault class;
• and,
• adapt at least one of the mission specification, the route specification, and the setpoint trajectory depending on the fault class of the at least one detected fault.