System modifications keep the intended functionality while improving performance: better sensor performance, accuracy, calibration, installation, packaging and coverage analysis; sensor disturbance and blockage detection with cleaning and warning or degradation; diverse sensor types; better actuator accuracy, range, response time and authority; improved recognition and decision algorithms including machine learning, added inputs and ODD exit or unsupported-condition recognition; more computing capacity; and greater conspicuousness of the vehicle to help other traffic participants control hazardous behaviour, where local regulation permits.
The graph holds this control, the 0 it maps to, and the evidence behind each claim, over MCP and REST.