Specifications include, but are not limited to: 2.1. Drive-by-wire Control 2.1.1. The vehicle shall be outfitted with a drive-by-wire system capable of achieving at a minimum the specifications below. 2.1.2. The drive-by-wire system shall have integrated access to stock vehicle firmware and be developed with vehicle OEM engineering support. 2.1.3. Lower-level throttle, brake and steering commands shall be controlled by the drive-by-wire control system in order to achieve a commanded speed and steering angle. The requests sent to the drive-by-wire system will be: • Vehicle speed • Steering angle • PRNDL request • Vehicle state (off, accessory, run, start) • Error (disengage drive-by-wire until reset) • Emergency stop (full brake) • Throttle (for teleoperation) 2.1.4. Feedback: The completed system shall also include feedback of the following parameters: • Current steering angle • Current vehicle speed or wheel speed • Current ignition position • Transmission status (current position) • Fuel level • Parking brake status (off/on) • Powertrain data such as component temperatures and engine speed 2.2. Autonomous algorithm 2.2.1. The system shall be equipped with a waypoint-following autonomy algorithm, including built-in GPS sensing. 2.3. Electrical 2.3.1. The system will be equipped with a wireless remote emergency stop with heartbeat monitoring feature. 2.3.2. The system will also be equipped with a local emergency stop. 2.3.3. The 12V system will include a battery disconnect switch mounted at the battery. 2.4. Mechanical 2.4.1. The drive-by-wire integration shall retain all seating, as well as access to the stock vehicle controls (wheel, pedals, shift lever, etc.). 2.4.2. All seating and built-in storage areas will remain usable. The drive-by-wire system will be integrated as invisibly as possible. 2.5. Human Interface 2.5.1. All stock vehicle controls will remain in place. 2.5.2. There will be a single momentary switch to enable autonomous mode, requiring at least three actions to activate (for example, 1. Depress brake, 2. Depress button, 3. Release button, 4. Release brake). 2.5.3. Autonomous mode status will be visibly conveyed through lights or screens, with at least one indicator clearly visible from outside of the vehicle (i.e. light tree on top).