A computing system, comprising: one or more processors; and one or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising: prior to receiving a user input: determining a primary motion plan that controls an autonomous vehicle towards a primary destination; determining a secondary motion plan that controls the autonomous vehicle to a second destination that is different from the primary destination; controlling the autonomous vehicle according to the primary motion plan; receiving the user input; and characterized in that in response to receipt of the user input, switching a control of the autonomous vehicle from the primary motion plan to the secondary motion plan that was determined prior to receipt of the user input; wherein the computing system comprises multiple redundant motion planning systems, the multiple redundant motion planning systems comprising: a primary motion planning system that determines the primary motion plan; and a secondary motion planning system that determines the secondary motion plan; and wherein the primary motion planning system and the secondary motion planning system share sensor data but separately determine the primary motion plan and the secondary motion plan. one or more processors; and one or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising: prior to receiving a user input: determining a primary motion plan that controls an autonomous vehicle towards a primary destination; determining a secondary motion plan that controls the autonomous vehicle to a second destination that is different from the primary destination; controlling the autonomous vehicle according to the primary motion plan; receiving the user input; and characterized in that in response to receipt of the user input, switching a control of the autonomous vehicle from the primary motion plan to the secondary motion plan that was determined prior to receipt of the user input; wherein the computing system comprises multiple redundant motion planning systems, the multiple redundant motion planning systems comprising: a primary motion planning system that determines the primary motion plan; and a secondary motion planning system that determines the secondary motion plan; and wherein the primary motion planning system and the secondary motion planning system share sensor data but separately determine the primary motion plan and the secondary motion plan. determining a primary motion plan that controls an autonomous vehicle towards a primary destination; determining a secondary motion plan that controls the autonomous vehicle to a second destination that is different from the primary destination; controlling the autonomous vehicle according to the primary motion plan; receiving the user input; and characterized in that in response to receipt of the user input, switching a control of the autonomous vehicle from the primary motion plan to the secondary motion plan that was determined prior to receipt of the user input; wherein the computing system comprises multiple redundant motion planning systems, the multiple redundant motion planning systems comprising: a primary motion planning system that determines the primary motion plan; and a secondary motion planning system that determines the secondary motion plan; and wherein the primary motion planning system and the secondary motion planning system share sensor data but separately determine the primary motion plan and the secondary motion plan. a primary motion planning system that determines the primary motion plan; and a secondary motion planning system that determines the secondary motion plan; and wherein the primary motion planning system and the secondary motion planning system share sensor data but separately determine the primary motion plan and the secondary motion plan.