Systems, methods and apparatus to collect sensor data generated in an autonomous vehicle. Sensors in the vehicle generate a sensor data stream during operations of the vehicle on a road. An advanced driver assistance system (ADAS) of the vehicle uses the sensor data stream to operate the vehicle and generate a trigger signal in response to a fault in object detection, recognition, identification or classification and/or in response to the detection/prediction of an accident. A cyclic buffer buffers at least a portion of the sensor data stream. In response to the trigger signal, a selected segment of the sensor data stream is stored into a non-volatile memory. The selected segment can be partially before the trigger signal and partially after the trigger signal; and selected segment can be longer than what can be fully buffered in the cyclic buffer at the time of the trigger signal.