| CPC G05D 1/0077 (2013.01) [G05D 1/0212 (2013.01)] | 14 Claims |
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1. A vehicle, comprising:
vehicle hardware controls;
one or more processors; and
one or more storage encoding instructions executable by the one or more processors to implement a software stack, wherein the software stack includes:
a plurality of primary planners;
a first multiplexer to select and output a plan generated by one of the primary planners;
a fallback planner;
a fallback manager that determines whether the vehicle is in a degraded state:
a second multiplexer to select one of an output plan from the first multiplexer when the vehicle is not in the degraded state and a plan generated by the fallback planner when the vehicle is in the degraded state; and
vehicle controls to receive an output plan from the second multiplexer and output commands to the vehicle hardware controls to carry out the received output plan.
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