Frame #0-1: 
    No <Planning> Faults Discovered: EV keeps safe distance from NPCs, or EV has almost stopped

Frame #2-18: 
    No <Planning> Faults Discovered: Collision-free long-term speed planning
        For NPC "2": Wrong trajectory prediction
        Improper speed planning, too fast or too slow
    In <Control> Module: EV is skidding sometimes

Frame #19-33: 
    In <Planning> Module: Wrong speed planning, although identifying drivable area correctly
        For NPC "2": Wrong trajectory prediction
        Improper speed planning, too fast or too slow
    In <Control> Module: EV is skidding sometimes

Frame #34-59: 
    No <Planning> Faults Discovered: Collision-free long-term speed planning
        For NPC "2": Wrong priority prediction
        For NPC "2": Wrong trajectory prediction
        Improper speed planning, too fast or too slow
    In <Control> Module: EV is skidding sometimes

Frame #60:
    Accident!