Frame #0-5: 
    No <Planning> Faults Discovered: EV keeps safe distance from NPCs, or EV has almost stopped

Frame #6-21: 
    No <Planning> Faults Discovered: Collision-free long-term speed planning
        Improper speed planning, too fast or too slow
    In <Control> Module: EV is skidding sometimes

Frame #22-34: 
    No <Planning> Faults Discovered: EV keeps safe distance from NPCs, or EV has almost stopped
        Improper speed planning, too fast or too slow

Frame #35-47: 
    In <Planning> Module: Wrong speed planning, although identifying drivable area correctly
        Improper speed planning, too fast or too slow
    In <Control> Module: EV is skidding sometimes

Frame #48:
    Accident!