1. Human-CAV Interaction
    1. Audio-Visual Scene Description
    2. Automatic Speech Recognition
    3. Visual Object Identification
    4. Natural Language Understanding
    5. Speaker Identity Recognition
    6. Personal Status Extraction
    7. Face Identity Recognition
    8. Entity Dialogue Processing
    9. Portable Status Display
    10. Audio-Visual Scene Rendering
  2. Environment Sensing Subsystem
    1. Audio Scene Description
    2. Environment Data Fusion
    3. LiDAR Scene Description
    4. Online Map Scene Description
    5. RADAR Scene Description
    6. Spatial Attitude Generation
    7. Traffic Signalisation Recognition
    8. Ultrasound Scene Description
    9. Visual Scene Description
  3. Autonomous Motion Subsystem
    1. Environment Representation Fusion
    2. MAS Command Issuer
    3. Motion Selection Planner
    4. Path Selection Planner
    5. Route Selection Planner
    6. Traffic Obstacle Avoider
    7. AMS Decision Recorder
  4. Motion Actuation Subsystem
    1. Spatial Attitude Generation
    2. AMS Command Interpreter
    3. MAS Response Analyser