Recovery from stopping trajectory while in motion

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

• detecting a safety event associated with a vehicle operating in an environment while traversing a first trajectory;
• determining, based on the first trajectory and the safety event, a second trajectory associated with the vehicle, the second trajectory configured to bring the vehicle to a stop;
• controlling the vehicle based on the second trajectory;
• determining, based on a speed associated with the second trajectory, a third trajectory associated with the vehicle, the third trajectory configured to prevent the vehicle from coming to a stop according to the second trajectory;
• determining that the safety event no longer exists or is no longer relevant;
• and
• controlling the vehicle based at least in part on the third trajectory.