Systems for implementing fallback behaviors for autonomous vehicles

An autonomous vehicle comprising:

• a plurality of sensors configured to generate sensor data;
• a primary computing system configured to generate different behavior predictions based on each of different types of road users in the sensor data, and generate trajectories using the sensor data;
• a secondary computing system configured to receive the generated trajectories from the primary computing system to cause the autonomous vehicle to follow a received trajectory;
• and
• a backup computing system configured to, when there is a failure of the primary computing system, generate and send one or more trajectories to the secondary computing system to control the autonomous vehicle to maneuver to a stopping location.

A control system fir controlling a vehicle in an autonomous driving mode, the control system comprising:

• a plurality of sensors configured to generate sensor data;
• a primary computing system configured to generate different behavior predictions based on each of different types of road users in the sensor data, and generate trajectories using the sensor data;
• a secondary computing system configured to receive the generated trajectories from the primary computing system to cause the vehicle to follow a received trajectory;
• and
• a backup computing system configured to, when there is a failure of the primary computing system, generate and send one or more trajectories to the secondary computing system to control the vehicle to maneuver to a stopping location.