[wnkrshm]

A good human driver also gauges the limits of their own experience and 'phase transitions' into a more cautious mode of driving.

Is that something the algos can do? Infer the familiarity of the situation?

[mgoetzke]

The planning absolutely should take that into account and it does somewhat already. When it is really tight for example, it can slow down to a crawl.

It should do that in many cases, wet roads, busses with open doors, busses in general maybe, blind corners (does that already to some degree), many people nearby etc.