  This paper addresses the challenges of decision-making for autonomous
vehicles under faults during a transport mission. A real-time decision-making
problem of vehicle routing planning considering maintenance management is
formulated as an optimization problem. The goal is to minimize the total time
to finish the transport mission by selecting the optimal workshop to conduct
the maintenance and the corresponding routes. Two methods are proposed to solve
the optimization problem based on two methods of fundamental solutions: (1)
Mixed Integer Programming; (2) Dijkstra's algorithm. We adapt these methods to
solve the optimization problem and consider improving the computation
efficiency. Numerical studies of test cases of highway and urban scenarios are
presented to demonstrate the proposed methods, which show the feasibility and
high computational efficiency of both methods.
