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1. A method comprising: receiving, from a vehicle, trajectory data comprising one or more reference trajectories; determining a first spectrum associated with the trajectory data indicative of frequencies of the one or more reference trajectories; generating a model of a component of an autonomous vehicle system; determining, based at least in part on the model and the first spectrum, a second spectrum associated with an error; receiving an occurrence rate indicative of the occurrence of an event and a time period defined by one or more of an amount of time between successive events or an amount of time prior to the first occurrence of the event; determining a safety margin based at least in part on the error and the event occurring at a rate less than or equal to the occurrence rate; transmitting the safety margin to the vehicle or another vehicle to cause the vehicle or the other vehicle to generate a trajectory; and controlling the vehicle or the other vehicle based at least in part on the safety margin.
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