Method of generating back-up trajectories for self-driving vehicles during emergency

A non-transitory machine-readable medium having instructions stored therein for operating an autonomous driving vehicle (ADV), the instructions, when executed by a processor, causing the processor to perform operations, the operations comprising:

• in response to generating a trajectory for the ADV during a first planning cycle, storing the trajectory in a data structure as a backup trajectory;
• controlling the ADV based on the trajectory for the first planning cycle;
• detecting that the ADV fails to generate a trajectory during a second planning cycle;
• retrieving the backup trajectory from the data structure;
• and
• controlling the ADV based on the retrieved backup trajectory for the second planning cycle.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including in response to generating a trajectory for the ADV during a first planning cycle,
• storing the trajectory in a data structure as a backup trajectory,
• controlling the ADV based on the trajectory for the first planning cycle,
• detecting that the ADV fails to generate a trajectory during a second planning cycle,
• retrieving the backup trajectory from the data structure, and
• controlling the ADV based on the retrieved backup trajectory for the second planning cycle.