Secondary fallback software stack for autonomous vehicle

A method comprising:

• determining, by a primary planner of a vehicle, a first action for the vehicle using a first process;
• determining, by a fallback planner of the vehicle independent of the primary planner, an alternative action for the vehicle using a second process nonoverlapping with the first process, wherein the alternative action includes at least stopping the vehicle;
• sending an indication of the alternative action;
• and
• computing, by the fallback planner, a collision-free path for the vehicle responsive to a determination of an area at which the vehicle stopped after performing the alternative action fails to satisfy one or more area criteria.

A vehicle comprising:

• a primary control system to determine a first action for the vehicle based on first sensor data associated with an environment outside of the vehicle;
• a fallback control system to determine, independent of the primary control system, an alternative action for the vehicle based on second sensor data associated with the environment using at least one of a different perception process, a different prediction process, or a different planning process than the primary control system;
• and
• a path multiplexer to switch a control of the vehicle from the primary control system to the fallback control system responsive to a faulty condition associated with the primary control system by generating a first control command based on the alternative action.