Yes, thanks Mitsudome-san.
A couple of comments:
- For Global planner - requirement mentions series of “roads” detailed requirements only takes about “lanes”. Is this loose semantics or does a lane level planner equate to a “road” planner? I guess answer depends on architecture of planning module.
- One functional requirement that isn’t listed, is the requirement to enable context aware prediction of other road users: given map and traffic rules - which are the possible valid future paths of an observed car/pedestrian etc.