https%3A%2F%2Fmedium.com%2F%40LyftLevel5%2Fhttps-medium-com-lyftlevel5-power-allocation-between-redundant-systems-on-autonomous-vehicles-a68f5d80f061&title=Power Allocation Between Redundant Systems on Autonomous Vehicles&selection
- Perception, planning, or control insufficiencies are likely to be responsible for more faults than plain hardware faults.
- Additional power to each function monotonically reduces, with diminishing returns, the frequency of its faults. This is the simplest behavior we could choose.
- Increasing sophistication of each strategy can be thought of moving its respective line down or to the left.