I agree that it’s the most challenging part, and there are unsolved problems, but I don’t share your intuition that it’s in some way unsolvable, so I suspect we’re thinking of very different types of things.
For RSS specifically, Rule 5 is obviously the most challenging, but it’s also not in general required for the not-being-at-fault guarantee, and Rule 4 is largely about ensuring the relationship between sensor uncertainty in low visibility areas and the other rules—respecting distance and not hitting things—are enforced. Other than that, right of way rules are very simple, if the car correctly detects that the situation is one where they apply, and changing lanes is based on a very simple formula for distance, and assuming the car isn’t changing lanes, during driving, in order to follow the rules, you essentially only need to restrict speed, which seems like something you can check very easily.
I agree that it’s the most challenging part, and there are unsolved problems, but I don’t share your intuition that it’s in some way unsolvable, so I suspect we’re thinking of very different types of things.
For RSS specifically, Rule 5 is obviously the most challenging, but it’s also not in general required for the not-being-at-fault guarantee, and Rule 4 is largely about ensuring the relationship between sensor uncertainty in low visibility areas and the other rules—respecting distance and not hitting things—are enforced. Other than that, right of way rules are very simple, if the car correctly detects that the situation is one where they apply, and changing lanes is based on a very simple formula for distance, and assuming the car isn’t changing lanes, during driving, in order to follow the rules, you essentially only need to restrict speed, which seems like something you can check very easily.