---

graph TD
    subgraph L5["Уровень 5: CLOUD & TELEMETRY"]
        A1["V2X Связь (5G/C-V2X)"] <--> A2["OTA Updates (A/B Partition)"] <--> A3["Telemetry"]
    end

    subgraph L4["Уровень 4: APPLICATION & CONTROL"]
        B1["Primary AI Agent (Deep Learning)<br/>• Восприятие и планирование"]
        B2["Fallback Rule-Based Safety Engine<br/>• Детерминированные правила (MRM)"]
        B3["Plausibility Checker / Safety Cage<br/>(Проверка физических ограничений)"]
        
        B1 --> B3
        B2 --> B3
    end

    subgraph L3["Уровень 3: RTOS & MIDDLEWARE"]
        C1["QNX / AUTOSAR Adaptive (Cert. ASIL-D)"] <--> C2["Safe DDS / Shared Memory"]
        C3["Микроядерная архитектура, жесткая изоляция процессов, Watchdog-таймеры"]
    end

    subgraph L2["Уровень 2: EDGE COMPUTING & HARDWARE"]
        D1["Main Node (SoC 1)<br/>Dual ARM Cortex-A + NPU<br/>(ECC Memory, Isolation)"]
        D2["Backup Node (SoC 2 - Lockstep)<br/>ARM Cortex-R (ASIL-D MCU)<br/>(Независимое питание)"]
        D3["Hardware Majority Voter (2-of-3 Logic)"]
        
        D1 --> D3
        D2 --> D3
    end

    subgraph L1["Уровень 1: SENSOR & ACTUATOR"]
        E1["LiDAR Triple"] --- E2["Radar Array (x4)"] --- E3["Stereo Cameras (x6)"] --- E4["IMU / GNSS"]
        E5["Sensor Fusion & Cross-Validation"]
        E6["Actuators (Dual-Motor Steering, Dual-Hydraulic Brakes, Redundant Power Grid)"]
        
        E1 & E2 & E3 & E4 --> E5
        E5 --> E6
    end

    L5 == TLS 1.3 ==> L4
    L4 ==> L3
    L3 ==> L2
    L2 ==> L1

    %% Стилизация
    style L5 fill:#EBF8FF,stroke:#3182CE,stroke-width:2px
    style L4 fill:#EDF2F7,stroke:#4A5568,stroke-width:2px
    style L3 fill:#FEFCBF,stroke:#D69E2E,stroke-width:2px
    style L2 fill:#FEEBC8,stroke:#DD6B20,stroke-width:2px
    style L1 fill:#E6FFFA,stroke:#319795,stroke-width:2px