# Emerging Decision-Making for Transportation Safety: Collaborative Agent Performance Analysis
## 3 System Architecture and Design
### Data Flow Between Sensors, Processors, and Actuators  
Consideration must be given to what data the AV uses to formulate a plan and act upon it. Research into control architectures for AVs is extensive, with one example being the'sense, think, act' framework developed by Siemens. A simplified example of the data perceived from vehicle sensors and the environment and the possible choice of actuators for a vehicle has been specified in Figure 8. A 'utility' block has been added to represent how the agent is designed to consider how useful its actions will be and how happy  
\begin{table}
\begin{tabular}{l l l} \hline \hline
**ADAS Function** & **Sensors** & **Actuators** \\ \hline Adaptive Cruise Control & Front/Rear Radar & Engine Control \\ \hline Adaptive Headlights & Environmental Sensor, Front Camera, IMU & Headlight Servos \\ \hline Anti-Lock Braking Systems (ABSs) & Wheel Speed Sensor & Brake Modulator \\ \hline Brake Assist & Brake Pressure Sensor & Brake Actuator \\ \hline Blind Spot Detection & Lidar, 360\({}^{\circ}\) Camera & Audible/Visual Alerts via Human–Machine Interface (HMI) \\ \hline Collision avoidance Manoeuvre & Lidar, Front/Rear Radar & Brake Actuator, Electronic Steering \\ \hline Cross Traffic Alert (CTA) & Lidar, Front Radar & Audible/Visual Alerts via HMI \\ \hline Driver Monitoring & Cockpit Camera, Steering Wheel Sensor & Audible/Visual Alerts via HMI \\ \hline Electronic Stability Control (ESC) & IMU & Brake Modulator, Engine Control \\ \hline Emergency Braking & Front Radar & Brake Actuator \\ \hline Forward Collision Warning & Lidar, Front Radar & Audible/Visual Alerts via HMI \\ \hline Intersection Assist & Lidar, Front Radar & Audible/Visual Alerts via HMI \\ \hline Lane Following & Lidar, Front Camera & Electronic Steering, Audible/Visual Alerts via HMI \\ \hline Lane Change Assist & Lidar, Front Camera & Electronic Steering, Audible/Visual Alerts via HMI \\ \hline Night Vision & Lidar, Front Camera & Audible/Visual Alerts via HMI \\ \hline Pedestrian Detection & Lidar, 360\({}^{\circ}\) Camera, Front/Rear & Audible/Visual Alerts via HMI \\ \hline Park Assist Systems & Radar, 360\({}^{\circ}\) Camera, Front/Rear & Electronic Steering \\ \hline Traction Control System & Wheel Speed Sensor, IMU & Brake Modulator, Engine Control \\ \hline Traffic Jam Chauffer & Front/Rear Radar & Engine Control \\ \hline Traffic Sign Recognition & Front Camera & Audible/Visual Alerts via HMI \\ \hline \hline \end{tabular}
\end{table}
Table 5: ADAS functions and example combinations.  
they will make it. V2V and V2I communications provide the AV with information about the road network, to enable ADAS capabilities such as alerting it to hazards on the road ahead, as well as to the status and intentions of other advanced autonomous road users, allowing for hierarchical control. This scenario delegates control through layers, from a regional controller providing network-wide guidance to a platoon controller responsible for the control of a small number of AVs through the execution of manoeuvres like lane changing, joining other platoons, and keeping a safe distance from other platoon vehicles. These commands would be implemented by the AV control system, sending commands to actuators.