Yeah I've had a few similar situations where I had to swerve out of the lane to prevent getting rear ended. Stuff like that should be straight forward to model and consider as options, even modelling how long larger vehicles take to stop.
The cliff one is interesting, you should almost email that to them and see what they say, maybe it's something that's possible but they haven't thought of yet.
Other stuff too like road conditions. Can it detect wet pavement vs dry, or is there loose gravel scattered on the pavement.
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But certainty is an absurd one.
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