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64 T.Linz • They can perform a specific task (e.g., mowing the lawn) or head for a specific destination (e.g., “drive to Hamburg”) without having to specify the details of the taskor theexact route in advance. 2.1 AutonomyandAutonomyLevels “Autonomy”(of an UMS) is defined in [5] as: “A UMS’s own ability of integrated sensing, perceiving, analyzing, communicating, planning, decision-making, and acting/executing, to achieve its goals as assigned by its human operator(s) through designed Human-Robot Interface (HRI) or by another system that the UMS communicateswith.” The degree to which an autonomous system fulfils these properties (sensing, perceiving, analyzing, etc.) can be very different. In order to be able to classify systems according to their degreeof autonomy,variousclassification systems were defined. A well-known scale of this kind is the classification of autonomy levels for autonomousdrivingaccordingtoSAEStandardJ3016(see[2]).Thefollowingtable is a simplifiedrepresentationof these levelsbasedon[7]: SAE Environment level Name Description Control observation Fallback 0 No automa- tion The driver drives independently, even if supporting systems are available. Driver Driver – 1 Driver assistance Driver assistance systems assist invehicle operation during longitudinal or lateral steering. Driver and system Driver Driver 2 Partial automa- tion One or more driver assistance systems assist invehicle operation during longitudinal and simultaneous lateral control System Driver Driver 3 Conditional automa- tion Autonomous driving with the expectation that thedriver must react to a request for intervention. System System Driver 4 High automa- tion Automated guidance of the vehicle without the expectation that the driver will react toa request for intervention. Without any human reaction, the vehicle continues to steer autonomously. System System System 5 Full automa- tion Completely autonomous driving, in which the dynamic driving task isperformed under any road surface and environmental condition, which is also controlled by a human driver. System System System