Techniques are described to enable a vehicle, such as an autonomous vehicle, to steer and/or apply brakes on a road when a failure condition occurs. An example method for autonomous driving operation includes receiving a reduced set of location information that describes a location of the autonomous vehicle on a road; receiving a reduced set of trajectory information where the autonomous vehicle is expected to be driven; determining a driving path information where the autonomous vehicle is expected to be driven; and in response to determining an occurrence of a fault condition: sending a first instruction to cause the autonomous vehicle to steer the autonomous vehicle using at least the driving path information and the reduced set of location information, and sending a second instruction to cause the autonomous vehicle to apply brakes.