Torque-limited drivers

Safety goals often describe mutual effects of possible malfunctions. A defective, far too high motor torque leads at a certain value, intensity or duration to a dangerous and for the driver, uncontrollable self-acceleration of the vehicle. A defective far too low motor torque could lead to an uncontrollable delay up until self-braking. This is why the safest function is usually a corridor, which is chosen by design limitations and/or the controllability through the driver (see Fig. 4.15). 

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