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Environment Sensing  Autonomous Motion  Motion Actuation
Audio Scene Description Full Environment Description Spatial Attitude Generation
Visual Scene Description Route Selection Planning AMS Command Interpretation
RADAR Scene Description Path Selection Planning MAS Response Analysis
LiDAR Scene Description Motion Selection Planning
Ultrasound Scene Description Traffic Obstacle Avoidance
OnlineMap Scene Description AMS Command Issuance
Traffic Signalisation Description AMS Decision Recording
Spatial Attitude Generation
Basic Environment Description