In some ways, I think it is unrealistic to expect self-driving vehicles to function independently. There are just so many random variables, as a quick for instance: trafiic lights are out due to power failure, cops are manually directing traffic, etc.
The answer to these types of issues, IMO, is to have a comprehensive system that is monitoring ALL traffic, and the system communicates with individual vehicles.
Unfortunately, a system like that is a LONG ways away. And it would suck because it would probably mean the end of personal driving. And I, for one, LIKE driving.
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