An automated driving system, comprising: one or more sensors disposed on a vehicle; and a computing device in communication with the one or more sensors, comprising: one or more processors for controlling the operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: determine, using a path planner application receiving information based on inputs to the one or more sensors, a planned vehicle path; send a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path; characterized in that the one or more processors are configured to execute instructions stored in the memory to: while the vehicle follows the planned vehicle path, receive 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 one or more processors are further configured to execute instructions stored in the memory to: resend the command to the one or more vehicle systems to control the vehicle to follow the planned vehicle path. one or more sensors disposed on a vehicle; and a computing device in communication with the one or more sensors, comprising: one or more processors for controlling the operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: determine, using a path planner application receiving information based on inputs to the one or more sensors, a planned vehicle path; send a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path; characterized in that the one or more processors are configured to execute instructions stored in the memory to: while the vehicle follows the planned vehicle path, receive 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 one or more processors are further configured to execute instructions stored in the memory to: resend the command to the one or more vehicle systems to control the vehicle to follow the planned vehicle path. one or more processors for controlling the operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: determine, using a path planner application receiving information based on inputs to the one or more sensors, a planned vehicle path; send a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path; characterized in that the one or more processors are configured to execute instructions stored in the memory to: while the vehicle follows the planned vehicle path, receive 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 one or more processors are further configured to execute instructions stored in the memory to: resend the command to the one or more vehicle systems to control the vehicle to follow the planned vehicle path. determine, using a path planner application receiving information based on inputs to the one or more sensors, a planned vehicle path; send a command to one or more vehicle systems to control the vehicle to follow the planned vehicle path; characterized in that the one or more processors are configured to execute instructions stored in the memory to: while the vehicle follows the planned vehicle path, receive 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 one or more processors are further configured to execute instructions stored in the memory to: resend the command to the one or more vehicle systems to control the vehicle to follow the planned vehicle path. while the vehicle follows the planned vehicle path, receive 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 one or more processors are further configured to execute instructions stored in the memory to: resend the command to the one or more vehicle systems to control the vehicle to follow the planned vehicle path.