  Achieving safe and robust autonomy is the key bottleneck on the path towards
broader adoption of autonomous vehicles technology. This motivates going beyond
extrinsic metrics such as miles between disengagement, and calls for approaches
that embody safety by design. In this paper, we address some aspects of this
challenge, with emphasis on issues of motion planning and prediction. We do
this through description of novel approaches taken to solving selected
sub-problems within an autonomous driving stack, in the process introducing the
design philosophy being adopted within Five. This includes safe-by-design
planning, interpretable as well as verifiable prediction, and modelling of
perception errors to enable effective sim-to-real and real-to-sim transfer
within the testing pipeline of a realistic autonomous system.
