The sensors and processing that identify the AV's surroundings ought to be specified, with the information in a form, accuracy and timeliness that fit the vehicle, its ODDs and the defined mission. Examples: a motorway ARV identifying its lane, nearby vehicles, people and animals on the carriageway; recognising infrastructure such as traffic lights and their state; and a pod able to sense temperatures well beyond its operating range so it knows when it has been taken somewhere it was not designed for.
The graph holds this control, the 0 it maps to, and the evidence behind each claim, over MCP and REST.