Adaptive autonomous vehicle planner logic

A system comprising:

• one or more processors
• memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to:
• receive path data with which to guide motion of an autonomous vehicle from a first geographic location to a second geographic location;
• generate a trajectory with which to control motion of the autonomous vehicle based, at least in part, on the path data;
• generate a contingent trajectory;
• monitor generation of the trajectory;
• detect an impairment of the generation of the trajectory;
• and
• control motion of the autonomous vehicle according to the contingent trajectory responsive to detecting the impairment.

One or more non-transitory computer-readable media storing processor-executable instructions that, when executed, cause one or more processors to perform operations, the operations comprising:

• receiving path data with which to guide motion of an autonomous vehicle from a first geographic location to a second geographic location;
• generating, based, at least in part, on the path data, multiple trajectories, the multiple trajectories including a trajectory with which to control motion of the autonomous vehicle and a contingent trajectory;
• directing motion of the autonomous vehicle according to the trajectory;
• detecting an impairment of the generation of the trajectory;
• and
• responsive to detecting the impairment of the generation of the trajectory, directing motion of the autonomous vehicle according to the contingent trajectory.