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Cars, or indeed any machines, will never be able to 'make decisions' at all, no matter how good the software.
Of course they make decisions! When a program says "It is a cat" that is a decision. Computer neurons don't function the way our neurons work and computers don't learn the same way we do but that does not mean that they can't learn or make decisions.
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Your an artificial intelligence!
The point I've been trying to make is that a self-driving car can make a decision over life and death following a heuristic decision matrix that was decided apriori, viz. hardwired into the vehicle, by others (and including only the factors entered into the system, sensors etc.).
[https://www.youtube.com/watch?v=MZGPz4a2mCA(https://www.youtube.com/watch?v=MZGPz4a2mCA
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