1. A method performed on an autonomous vehicle, the method comprising: (a) evaluating, via one or more systems onboard an autonomous vehicle, capabilities of the autonomous vehicle with respect to performance of a task, the evaluating of capabilities including: providing a first model, the first model corresponding to the task; providing a further model, the further model corresponding to the autonomous vehicle; providing a plurality of mappings from one model to another model; determining whether there exists a transformation trace either (i) from the first model to the further model, or (ii) from the further model to the first model, wherein each transformation trace comprises one or more of the specified mappings; and evaluating the capabilities of the autonomous vehicle with respect to the task, the evaluation outcome being dependent upon existence of the transformation trace; (b) inputting data corresponding to a result of step (a) into other systems of the autonomous vehicle; and (c) performing a specified action of the autonomous vehicle depending on the result.