In SAE Level 3 automated driving, the driver is legally permitted to engage in non-driving activities like watching a film or answering emails. However, when severe weather or hardware degradation violates the system's operational design domain, the car must return control. If the driver suffers a medical emergency or falls into a deep sleep and fails to respond to the 10-second alarm, the car must become its own chauffeur and safely park itself.
Pulling over to the right-hand shoulder from the fast lane requires crossing two active traffic lanes. The MRM state machine calculates Time-to-Collision (TTC) for trailing vehicles in adjacent lanes using 77GHz rear corner radars. If a trailing vehicle approaches at 180 km/h, the algorithm aborts the lateral move, accelerates slightly to match traffic flow, and executes the lane change only when TTC exceeds 4.5 seconds.