[SideburnsOfDoom]

> Additionnally, the truck driver did not detect that the cruise car was failing to yeld.

It is amazing how much of driving involves understanding how other drivers will move. Which means, to an extent, predicting their state of mind and assuming that it is rational.

When a driver does not follow these assumptions (e.g. a drunk driver swerving. e.g. an vehicle failing to yield to a blatantly obvious fire truck), bad things will happen. And it is typically the fault of that unpredictable driver.

This is not the system that one would design from the ground up for automated vehicles to use. But if such vehicle are on the existing roads, it is the system that they must use.