<<extend>>

Clear straight road The car accelerates straight <<include>>

GCP detects straight road

<<extend>>
Encounter Left curve <<include>>
Car slows down and starts to turns left GCP detects left curve

<<extend>>
<<include>>
Car slows down and starts to turn right GCP detects right curve
Encounder Right curve

<<extend>>

Inactive Traffic Signal Car decreases its speed but continues motion <<include>> <<extend>>
GCP detects inactive traffic signal

<<extend>>
<<extend>>

The car comes to a halt. <<include>>

Encounter Red traffic signal GCP detects red traffic signal
<<extend>>

<<extend>> <<extend>>
Encounter Yellow traffic signal <<include>>
Car decreases it's speed and comes to a halt GCP detects yellow traffic signal
<<extend>>

<<extend>> <<extend>>
Encounter Green traffic signal Car accelerates straight <<include>>
GCP detects green traffic signal
<<extend>>

<<extend>>
<<extend>>
Flashing Red signal <<include>>
Completely stop, then proceed
GCP detects flashing red traffic signal GCP
<<extend>>
System
<<extend>>
<<extend>>
Flashing Yellow signal Car slows down and enters into an alert state <<include>>
GCP detects flashing yellow traffic signal
<<extend>>

<<extend>> <<extend>>
Encounter Stop signal <<include>>
Car will stop for 5 seconds GCP detects stop signal

<<extend>>

<<extend>>

Encounter GO signal Car resumes its motion <<include>>

GCP detects go signal

<<extend>>
Encounter obstacles Car comes to a halt and waits for the obstacle to be cleared <<include>>
GCP detects obstacles

<<extend>>

Sudden appearance of object in front of the car Car remains stationary until object is cleared <<include>>
GCP detects sudden appearance of objects