There are late filing criteria clearly defined by USCIS. If you fall under on of those criteria, you can file TPS.

You were a nonimmigrant, were granted voluntary departure status, or any relief from removal;
You had an application for change of status, adjustment of status, asylum, voluntary departure, or any relief from removal which was pending or subject to further review or appeal;
You were a parolee or had a pending request for re-parole;
You were a spouse of an individual eligible for TPS or you are still the spouse of that person who is currently eligible for TPS; or
You were and remain a child of an individual eligible for TPS.