Reference trajectory validating and collision checking management

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

• receiving a first trajectory for a vehicle to follow in an environment, the first trajectory received from a primary computing component at a secondary computing component;
• determining, by the secondary computing component, an offset of the vehicle based at least in part on an expected location of the vehicle along the first trajectory;
• iteratively determining, based at least in part on the offset, a second trajectory that the vehicle is predicted to drive to return to the first trajectory until the second trajectory projects onto a stop point along the first trajectory;
• determining, by the primary computing component and based at least in part on the first trajectory, a first likelihood of collision between the vehicle and an object proximate the vehicle;
• determining, by the secondary computing component and based at least in part on the second trajectory, a second likelihood of collision between the vehicle and the object;
• and
• controlling the vehicle to follow the second trajectory or a safe stop trajectory based at least in part on the first likelihood of collision and the second likelihood of collision.

A method comprising:

• receiving a first trajectory for a vehicle to follow, the first trajectory received from a primary computing component at a secondary computing component;
• determining, by the secondary computing component, an offset of the vehicle based at least in part on an expected position of the vehicle along the first trajectory;
• iteratively determining, based at least in part on the offset, a second trajectory that the vehicle is predicted to drive to return to the first trajectory until the second trajectory projects onto a stop point along the first trajectory;
• determining, by the primary computing component and based at least in part on the first trajectory, a first likelihood of collision between the vehicle and an object proximate the vehicle;
• determining, by the secondary computing component and based at least in part on the second trajectory, a second likelihood of collision between the vehicle and the object;
• and
• controlling the vehicle to follow the second trajectory or a safe stop trajectory based at least in part on the first likelihood of collision and the second likelihood of collision.