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@Clockwise
I don't mind how they make the choices it's the idea of them being driven off sensors which is worrying. The sensors will be an overiding factor in how well it makes the decisions which is all fine when they are maintained well and tested on a regular basis which they currently are as the cars are checked each time they go out in the testing period. Once you hand them over to the public then they will be just like any other part of the car and so putting off a sensor check/calibration will be just like squeezing another 1000miles before the next service or driving a bit more than you should on a skinny emergency tyre or whatever.
Also I can think of a handful of junctions with multiple sets of traffic lights facing the car(left turn, center, right turn on individual sets) and I can't think what the car would do without human input or something wireless from the traffic lights.