at least one processor; and

a non-transitory computer-readable storage medium storing instructions which when executed by the at least one processor cause the at least one processor to:

operate the vehicle in an autonomous mode;

receive a command using a vehicle-to-infrastructure (V2I) communication device of the vehicle, the command instructing the vehicle to maneuver to a goal location;

determine that the vehicle fails to maneuver to the goal location; and

responsive to determining that the vehicle fails to maneuver to the goal location, transmit a teleoperation request to a teleoperation server and implement one or more fallback operations for controlling the vehicle in the autonomous mode while waiting for one or more teleoperations for controlling the vehicle in the autonomous mode from the teleoperation server, wherein the one or more fallback operations are different from the one or more teleoperations, wherein each fallback operation is associated with at least one system process and a cost, and wherein the one or more fallback operations are selected from a list of fallback operations based on their respective cost and an availability of the at least one system process associated with each of the one or more fallback operations, wherein the cost represents a reduced amount of perception accuracy of perceiving objects in an environment near the vehicle when implementing the one or more fallback operations.