RQ1

Perception MICS:

In this scenario, the ego car turns left and erroneously detects the NPC cars’ locations as they shift to the left.

Prediction MICS:

The ego car maintains its lane, while a nearby NPC car on the right initiates a lane change to cut in. However, the Prediction module erroneously predicts that the NPC car will stay in its current lane. 

Planning MICS: 

The ego car proceeds along its initially planned path (Actual Plan), even though a safer alternative trajectory (Good Plan) is available. The ego car fails to account for the NPC car’s predicted trajectory, which leads to a close interaction. 

Controller MICS: 

The ego of the upstream Planning makes a safe planning path (Ego Plan), while the Control module can not adjust the ego-motion according to the Ego Plan in time.