How to program planning and executing module parallelly in the Airsim Environment by using Python?

[AlexanderZ3]

Here is my setting:
Win 10 + Airsim Drone Racing Lab simulation environment + python 3.6

I am doing dynamic trajectory planning work, in which local trajectory will be optimized iteratively with a fixed time gap. So I hope my planning module and executing module can be controlled in parallel, which means, for instance, in the first time slot, the planner will work; when it runs to the second time slot, the planner will keep planning trajectory in this slot, and the execution module will execute the planned trajectory in the first time slot at the same time. In the following time slots, the working mechanism will follow the same procedure: the planner plans the (N+1)th segment trajectory, but the execution module executes the Nth segment trajectory.

In python environment, multi-threads programming cannot achieve since it cannot achieve real parallel programming. But the multi-processing programming is not easy to control the data transmission between planner and the execution module. So I want to ask if there are some friends who meet the similar problem and how did you solve it?