Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For example, a set of potential stopping locations may be identified based on a current location of an autonomous vehicle. A set of potential states may be identified for the autonomous vehicle. A fallback cost for each potential state of the set of potential states to reach each potential stopping location of the set of potential stopping locations may be determined. A trajectory for an autonomous vehicle may be planned based on a route to a destination and the determined fallback costs. The autonomous vehicle may be controlled according to at least a portion of the trajectory.

Abstract: Systems and methods for intelligently implementing an autonomous agent include: implementing a computer-based control circuit that generates computer-based control signals for controlling a driving operation of an autonomous agent; enabling a non-computer control source that provides non-computer-based control signals for controlling the operation of the autonomous agent; implementing a dedicated arbiter circuit that selectively passes control signals from either the computer-based control circuit or the non-computer control source to lower-level driving mechanisms; and implementing a takeover circuit that source s a takeover signal to the dedicated arbiter circuit based on detecting non-computer-based control signals having non-nominal control values from the non-computer control source, wherein in response to the takeover signal, the dedicated arbiter circuit dynamically switches from passing the computer-based control signals from the computer-based control circuit to passing non-computer-based control sig