Adaptive autonomous vehicle planner logic

This invention describes a system for self-driving cars that plans how to move from one place to another. It creates a primary driving plan, called a trajectory, but also prepares a backup plan, or contingent trajectory, at the same time. The car is controlled by the primary plan, but the system is ready to switch to the backup if needed. The claims narrow this to generating multiple backup plans, comparing them, and selecting the best one, potentially including a safe-stop option.