The article presents a review of recent literature on the performance metrics of Automated Driving Systems (ADS). More specifically. performance indicators of environment perception and motion planning modules are reviewed as they are the most complicated ADS modules. The need for the incorporation of the level of threat an obstacle poses in the performance metrics is described. https://www.roneverhart.com/MagnaFlow-2003-2006-Toyota-Corolla-Street-Series-Cat-Back-Performance-Exhaust-System/