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> Imagine you are about to get hit head-on by a drunk driver

The fact that Waymos don't get hit head-on by drunk drivers suggests this is a situational awareness versus last-minute dodge problem.

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It's a numbers game. As much time as Waymo had been on the road, it has not been long enough to hit a "drunk driver running red light" situation. It'll happen eventually.
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If Waymo hasn't done enough miles for this to happen then it is a statistically insignificant event. They're on pace to do 20 million trips this year alone.
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I too solve my problems by getting catapulted multiple feet in the air without a clear landing plan
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