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Bikes and pedestrians do what they do now - whatever they want.
And how is a self-driving car to "avoid" contact? Or are they fair game--- objects to sacrifice to save itself and other autonomous vehicles on the road? A child, for example, runs out into a two lane road with cars speeding along in both directions and people crowded on the walkway..
In the future, of course, they will be communicating with the other motorcars, buses etc. but also stoplights--- already reality in some places--- and all kinds of other routing systems but what about, to keep to OUR favorite topic, bicycles?