obtaining sensor data and localization data comprising information about a surrounding environment of the vehicle;

determining a plurality of candidate paths for a prediction time horizon within a drivable area in the surrounding environment of the vehicle based on the obtained sensor data and the localization data, each candidate path being associated with a nominal cost functional value based on at least one cost parameter;

determining an expected trajectory of a target vehicle located in the surrounding environment of the vehicle for the prediction time horizon based on the obtained sensor data and localization data;

determining, for each candidate path, an overlap cost parameter for an overlap between the target vehicle's expected trajectory and a set of stop positions of the vehicle based on predicted executions of the fallback stop feature within the prediction time horizon;

selecting a candidate path from the plurality of candidate paths by computing a cost function based on the nominal cost functional value and the overlap cost parameter; and

generating a control signal at an output so to control the vehicle to follow the selected candidate path.