VEHICLE SAFETY SYSTEM

Techniques for validating or determining trajectories for a vehicle are discussed herein. A trajectory management component can receive status and/or error data from other safety system components and select or otherwise determine safe and valid vehicle trajectories. A perception component of a safety system can validate a trajectory upon which the trajectory management component can wait for selecting a vehicle trajectory, validate trajectories stored in a queue, and/or utilize kinematics for validation of trajectories. A filter component of the safety system can filter out objects based on trajectories stored in a queue. A collision detection component of the safety system can determine the collision states based on trajectories stored in a queue or determine a collision state upon which the trajectory management component can wait for selecting or otherwise determining a vehicle trajectory.