Abstract: A system for controlling an autonomous vehicle is provided. The system may include a first sensor system including a first sensor and a first data box. The first sensor system may be configured to determine a first vehicle control decision. The system may further include a second sensor system including a second sensor and a second data box. The second sensor system may be configured to determine a second vehicle control decision. The system further includes a controller configured to receive the first vehicle control decision and the second vehicle control decision from the first sensor system and the second sensor system; determine a priority ranking for the first vehicle control decision and the second vehicle control decision; select, based on the priority ranking, a vehicle control decision from the first vehicle control decision and the second vehicle control decision; and implement, responsive to the determining, the selected vehicle control decision.