The design considers potential performance insufficiencies where an element's output could lead to hazardous behaviour at vehicle level, such as insufficient classification, measurement, tracking, target selection or kinematic estimation, false positive and false negative detections, and driving policy limits such as occluded areas. Measures are built into the specification and design to cope with them and to lower residual risk, recognising that functional insufficiencies matter most within the ODD while the way the system detects leaving the ODD and behaves in transitions also needs analysis. Insufficiencies accepted without a countermeasure are documented.
The graph holds this control, the 0 it maps to, and the evidence behind each claim, over MCP and REST.