If self-driving cars cannot deal with these corner cases, the other option is to remove the corner cases so that they don't have to solve them. For example, we could change our roads to make them easier for self-driving cars to handle.
The issue with this approach, though, is that we are adapting things to our environment not our environment to these things. If we were to wait for all roads to be modified for automation, then it would take a century if it ever happened.