{
  "actions": [
    "KEEP_LANE",
    "SET_SPEED",
    "ADJUST_SPEED",
    "STOP",
    "WAIT",
    "FOLLOW",
    "APPROACH",
    "NAVIGATE_TO",
    "CHANGE_LANE",
    "MERGE",
    "TURN",
    "U_TURN",
    "PROCEED",
    "YIELD",
    "PULL_OVER",
    "PARK",
    "OVERTAKE",
    "PASS_BY",
    "AVOID",
    "REVERSE",
    "ENTER_AREA",
    "EXIT_AREA",
    "EMERGENCY_BRAKE",
    "RESUME",
    "CANCEL"
  ],
  "statuses": [
    "VALID",
    "NEEDS_CLARIFICATION",
    "UNSUPPORTED"
  ],
  "categories": [
    "BASIC_CONTROL",
    "NAVIGATION",
    "COMPLEX_OBSTACLE_AVOIDANCE",
    "EMERGENCY_RESPONSE",
    "META_CONTROL"
  ],
  "urgencies": [
    "NORMAL",
    "URGENT",
    "EMERGENCY"
  ],
  "directions": [
    "LEFT",
    "RIGHT",
    "STRAIGHT",
    "BACKWARD"
  ],
  "changes": [
    "NONE",
    "INCREASE",
    "DECREASE"
  ]
}