Am I correct in that the linked article was based on a presentation to the IMF, a very difference use case than driving? IMF would be trying to predict longer term future trends, whereas driving is current action based on current conditions.
Any driving system is analogous to a hash function with sensor input mapping to a force vector (steering, braking, accelerating) and signaling as outputs.
Object categorization is important for dealing with special cases like trolleys and emergency vehicles, but object existence recognition is the critical function. If there is an object in the driving path, it needs to acted on regardless of whether it is a dog or calf. Further, the recognition of free space (noise pattern from roadway) can serve as a gating function on object identification (also useful for distance estimating versus standard low clearance vehicles, but not against overhanging loads.).
Rules of the road are important for base driving, but cannot be hard coded lest the system be too brittle. Examples:
Detours on the wrong side of the road
People who don't do 4-way stops priority correctly
Dual lane roundabout with construction in one lane forcing a merge and travel in the 'wrong' lane
Pedestrians lacking in self preservation skills
Other drivers in general
May require an illegal lane change, thus changing a rule , 'shall not' to a guidance 'should not'.
Regarding alien failure modes. If you only look at the final output, the NN is opaque in its 'reasoning'. However, if you look at the layers and kernels therein, along with running heat maps, then you can see what the NN is keying on, and whether that makes sense. You would also set up your test cases to verify internal performance. Then, running the final result against as much data as possible (with fuzzing), you find out if you are over fitted or weak on some area.
nteresting and relevant detail: the line divider on that Cal road was totaled "right" before Tesla accident, since we do not know who made this accident it was not a Tesla for sure, and definitely not an auto in autopilot.
It was totaled many days before by a drunk driver who survived... (long thread elsewhere on TMC)