Exception handling for autonomous vehicles

A system comprising one or more processors configured to:

• receive sensor data corresponding to an object in an environment of a vehicle;
• determine a point in time based on a potential collision with the object;
• and
• when the point in time has passed and a runtime exception is unresolved, control the vehicle to perform a precautionary maneuver to avoid the potential collision with the object.

A non-transitory computer-readable medium on which instructions are stored, the instructions, when performed by one or more processors, cause the one or more processors to perform a method, the method comprising:

• receiving sensor data corresponding to an object in an environment of a vehicle;
• determining a point in time based on a potential collision with the object;
• and
• when the point in time has passed and a runtime exception is unresolved, controlling the vehicle to perform a precautionary maneuver to avoid the potential collision with the object.