For planning algorithms the analysis looks at where the vehicle is and its surroundings, the road, built-up, countryside or motorway settings, how the user or driver behaves (misuse included), what other road users may do, situations such as roadworks, crashes, jams needing an emergency corridor or a vehicle travelling against traffic, limits already known in the algorithm such as scenarios it cannot handle or non-repeatable behaviour, gaps in the machine learning specification and training data, and insufficiencies and improvements already recorded.
The graph holds this control, the 0 it maps to, and the evidence behind each claim, over MCP and REST.