[ra7]

There are videos of Waymo successfully negotiating a Costco parking lot. Here is a recent video of some scenarios in SF that are close to the nuances described above: https://www.youtube.com/watch?v=2CVInKMz9cA. Notice how there are activity icons indicating pedestrians running, truck stopped with a door open and so on. They can understand a scene pretty well.

Behavior prediction is a large research focus now according to Waymo, so they are thinking about complex situations like these. But a lot of them (like no lane lines, construction, 2 way roads becoming 1 way) can just be encoded in HD maps and distributed to the whole fleet.