Autonomous vehicle safety platform system and method

A system for a vehicle comprising:

• a first computing system communicatively coupled to a first set of vehicle sensors, the first computing system configured to:
• based on measurements from the first set of vehicle sensors, determine an ego-vehicle state estimate and an environmental representation which identifies a set of dynamic agents;
• determine a primary plan based on the ego-vehicle state estimate and the environmental representation;
• and
• determine a secondary plan, comprising:
• determining a set of navigational edges;
• classifying a navigational edge as an available state based on an occupancy prediction corresponding to each dynamic agent, wherein each dynamic agent is assumed to be static within a planning horizon;
• and
• based on the classification of the navigational edge as an available state, generating the secondary plan based on the ego-vehicle state and the navigational edge;
• and
• a second computing system comprising an embedded controller and configured to:
• receive the secondary plans from the first computing system;
• store the secondary plan in a memory of the embedded controller;
• and
• in response to determining satisfaction of a trigger condition, autonomously control the vehicle based on the secondary plan using the embedded controller and a second set of sensors.