While I agree for roads with no other cars around, I think there are shortcuts that can be taken on roads where there are indeed other cars. If you think about what humans do an unknown conditions or abnormal conditions, they basically follow the car in front of them. Self-driving cars could follow the same paradigm
>> What happens when the car in front goes off a cliff on a twisty mountain road?
Humans have been known to "follow" the car in front of them when its not appropriate. Being parked on the side of the freeway (especially on a curve) is one of the worst places to be. I recall hearing that people hit those parked cars quite often.
I was driving down a two way street, a car parked on the right was facing the wrong way, which made me think I was driving down a one way street. I saw a street light and had to use it to conclude I was in fact not on a one way street and that guy parked illegally.
