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I realized self-driving on roads is impossible for so-called when someone pointed out what human drivers do when there's like a flock of geese camped out in the middle of the road.
We know that we should slowly move forward until they get out of the way, including bonking then with the car (gently). Do we want cars deciding that some obstruction in the road is "ok" to hit? I don't. So what's the solution? Something other than pure autonomous self driving.
We can probably have some very high level driver assist. Maybe.
The main issue I have with full self driving is that it'll probably never actually be full self driving; there'll always be use cases where people have to take over - ice, snow, slightly flooded roads, sand, whatever*. And humans will have to take over under conditions when it's extremely helpful for them to have had extensive driving experience under a range of conditions - experience they'll no longer have because the car's been driving them everywhere.
* Yes, I know we're not supposed to drive in some of these conditions, and yet sometimes we have to, even if it's just to get to a safer place.