| | Primary categories | Subcategory | Elements |
| | Physical infrastructure | Roadway types | Emergency evacuation routes, motorways, radial roads, distributor roads, minor roads, slip roads, and shared spaces | | Roadway surfaces | Mixed, brick, scraped road, partially occluded, and speed bumps | | Roadway edges | Concrete barriers and lane type | | Roadway geometry | Hills, horizontal plane, transverse plane, longitudinal plane, number of lanes, roundabouts (normal, compact, double, large, and mini), and junctions (T-junctions, staggered, Y-junction, crossroads, and grade separated) |
| | Operational constraints | Traffic conditions | Density of agents, flow rate, and agent type |
| | Environmental conditions | Weather-induced roadway conditions | Haze | | Particulate matter | Surface contamination | | Illumination | Headlights |
| | Connectivity | Infrastructure sensors and communication | Galileo global navigation satellite system |
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