US Patent 9141109 Automated driving safety system

A system, device, and methods of automated driving. One example method includes determining a planned vehicle path using a path planner application receiving information based on inputs to one or more sensors disposed on a vehicle. The method further includes sending a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path. While the vehicle follows the planned vehicle path, the method includes receiving an indication that the path planner application is not meeting a threshold performance level. After receiving the indication that the path planner application is not meeting the threshold performance level, the method further includes resending the previously sent command to the one or more vehicle systems to control the vehicle to follow the planned vehicle path.