Abstract: A number of illustrative variations may include a method or product for monitoring and responding to component, system, or module failure in an autonomous driving system.

Abstract: A shell-like insert made from a low-friction material is useful in a coupler for railway cars. The coupler may have a male connector on one car and a female connector on the other. The connectors conform to each other and provide a clearance space therebetween. The male connector may include a ball stud and the female connector may provide a socket for the ball. The insert conforms to the clearance space and is made from a low-friction material, such as PTFE, a filament wound composite or an epoxy-impregnated PTFE and glass-fiber material, or the like. A railway car assembly may include two cars joined by a coupler as described herein. The cars may be joined by providing a rear follower and a front follower in the female connector to provide the socket, and positioning an insert in the socket between the ball and one or both followers.