I'm not so sure it can't. I know that Google's car AI at least recognizes a lot of communication cues at intersections -- if a car edges out a little bit towards the intersection the AI will pause to yield to it.
Here's another thing a self-driving car should be able to do but probably can'thttps://twitter.com/campfireburning/status/1199183045506609152 …
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If two AIs meet at an intersection they'll signal intent to proceed like this, using randomized exponential backoff to negotiate ties.
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