[Terr_]

Sounds likely, in which case there needs to be a much more "break glass in case of emergency" control which gradually lowers the maximum speed cap of the vehicle.

So even if the vision/pathfinding believes there is nowhere to park and nowhere else to turn, it will still coast to a stop in a way that is not inherently less-safe than a more-normal car running out of gas and stalling on the road.