After discussion with @arauschert, we came to the conclusion that the interface for activation and deactivation could need a refurbishment. Reasoning: Activation of both domains (lateral and longitudinal) should be executed in a single command, allowing the environment simulator to validate if a controller is able handle the request. Example: - A controller only supports a both domains. Before: - Mantle always sends two commands, such as ActivateLongitudinal and ActivateLateral Even if this happens within a single time step, it is harder quit with "unsupported mode" After - Mantle sends single command ChangeActivationState(true, true); // everything fine - Mantle sends single command ChangeActivationState(true, false); // not supported - Mantle sends single command ChangeActivationState(false, true); // not supported