The sensors and processing used to anticipate what people near the AV might do ought to be specified: reading the road as a driver would, noticing a pedestrian who is not looking, or cannot see well, and may not know the AV is coming (perhaps slowing or warning), and deciding whether a vehicle meant never to meet cyclists, pedestrians or animals still needs sensors for them so it can recognise it has strayed outside its ODD.
The graph holds this control, the 0 it maps to, and the evidence behind each claim, over MCP and REST.