I can try to speculate. Steering and speed control could be done with simple PID control. You'd have to get more sophisticated for maintaining position, but yo

I can try to speculate. Steering and speed control could be done with simple PID control. You'd have to get more sophisticated for maintaining position, but you could maintain and control position using traditional control systems. When you're using sensors you determine where you are relative to other objects and that's still within this realm. However when certain classes of object can be expected to change position without observable indication it's hard to make a control system accurately predict that. There's no way to predict the future directly from what the car can see in all cases. I would imagine that classifying objects and predicting which objects are likely to start moving is in the realm of ml/ai. I don't think anyone can formalize rules on that aspect of driving.