The pdf is pretty helpful! Outside of total system failure, it will try to find a shoulder, and if it can't do that it will gradually come to a stop inside its lane.
In such an instance, “controlled stop” means that the system has the capability to control both steering and braking, so that the system can continue to ensure it is not leaving the lane as it brakesand is not hitting objects in the lane ahead. “Immediate stop” is the final fallback mechanism for the extremely improbable occurrence that everything in the system is failing.
That was the paragraph I found interesting. It seems to me in the worst case scenario from what I can tell it just slams the brakes and hopes for the best. It would be interesting to hear a response of what the truck would do in a jamming situation. I assume since it would not lose it cameras and other sensors it would slow down and pull over.
