US Patent 11370454 Parallel and failover autonomy systems

An autonomous vehicle is operated using a main autonomy system that analyzes data collected by a sensor system of the autonomous vehicle to determine a trajectory of travel of the autonomous vehicle, and wherein the main autonomy system provides instructions to a propulsion system of the autonomous vehicle to cause the propulsion system to navigate the autonomous vehicle according to the trajectory. In response to determining that navigating the autonomous vehicle according to the trajectory is likely to result in collision, instructions are provided from a parallel autonomy system to the propulsion system to cause the autonomous vehicle to avoid collision. In response to detecting a fault in the main autonomy system, control of the propulsion system is provided from the main autonomy system to a failover autonomy system, wherein the failover autonomy system is configured to override the propulsion system.