Frame #0-4: 
    No <Planning> Faults Discovered: EV keeps safe distance from NPCs, or EV has almost stopped

Frame #5-9: 
    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 #10-29: 
    In <Planning> Module and <Prediction> Module: Wrong identification of drivable area, caused by wrong trajectory prediction
        For NPC "2": Wrong priority prediction
        For NPC "2": Wrong trajectory prediction
        For NPC "4": Improper "overtake" decision
            Illegal and unsafe, EV is on the junction now
        Improper speed planning, too fast or too slow
    In <Control> Module: EV is skidding sometimes

Frame #30-52: 
    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 #53:
    Accident!