I don't think you can detect any sensor fault of any kind, unless you have multiple units of the same sensor with one not reporting the same condition with the other.

For example you have a temperature sensor reporting very high temperature but actually it is faulty, how would the system knows that it is faulty? It is impossible to know that. Unless you have another sensor's reading. If both sensors reporting high temperature, then only the system really knows that you have high temperature. If one is very different from the other, then you have a sensor fault.

Aiyoyo pilots must always be able to override any system just like driver must be able to take control of the vehicle in case of an emergency. If a vehicle is designed to make its own decisions without any input from the driver, then such vehicle should not be on the road.

It's plain stupid for such a sensor that was working before to fail suddenly and bring the vehicle to an immediate stop. The sale of such vehicle should be stop immediately and a thorough investigation conducted.