System and method for effecting a safety stop release in an autonomous vehicle

A non-transitory computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors of a computer system, cause the computer system to at least:

• receive a first set of instructions for controlling a vehicle;
• receive first message data from a component of the vehicle indicative of a status of the component;
• determine, based at least in part on the first message data, a first request to control the vehicle according to a first contingent set of instructions;
• execute, based at least in part on the first request, the first contingent set of instructions;
• determine a vehicle state indicative of controlling the vehicle according to the first contingent set of instructions;
• receive a second set of instructions for controlling the vehicle;
• receive second message data from the component;
• determine, based at least in part on the second message data, a second request to control the vehicle according the second set of instructions;
• determine to control the vehicle according to a second contingent set of instructions;
• transmit, to a remote system, the second message data;
• receive, from the remote system, a release signal, wherein the release signal provides an indication whether to reset the vehicle state to a different level;
• and
• execute the second set of instructions based on the level of the vehicle state.

A system comprising:

• one or more processors;
• and
• non-transitory computer readable media having instructions stored thereon which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
• receiving a first plurality of trajectories;
• receiving first message data indicative of a degraded status of a component of a vehicle;
• determining a validity associated with a first trajectory of the first plurality of trajectories;
• determining, as a collision check, whether the first trajectory is collision-free;
• causing, based at least in part on the validity, collision check, and the first message data, the vehicle to follow a first contingent trajectory;
• setting a vehicle state as a contingent state;
• receiving a second plurality of trajectories;
• receiving second message data indicative of a nominal operating status of the component;
• causing, based at least in part on the vehicle state and the second message data, the vehicle to follow a second contingent trajectory;
• receiving a release signal indicative of whether the vehicle state is to be adjusted;
• and
• controlling, based at least in part on the vehicle state, the vehicle to follow a second trajectory of the second plurality of trajectories, the second trajectory differing from the second contingent trajectory.