> Take for example a pedestrian and a car turning right arrive at an intersection. The pedestrian has a walk signal and the car wants to make a right on red. Bo

> Take for example a pedestrian and a car turning right arrive at an intersection. The pedestrian has a walk signal and the car wants to make a right on red. Both those actions are triggered by the same condition, no cross traffic. In a naive simulation they'd hit each other. In the real world they see each other and one yields to the other in a manner that depends on the situation To be clear, the pedestrian has the right of way in this situation, the car should always yield. In practice, cars often don’t respect it (happens to me daily). Sometimes because the driver is just rude or ignorant, which is a much harder problem to solve, but often because they simply didn’t see the pedestrian because the driver is looking left while they turn right. Ironically, they’re doing this for their own safety as a driver, because they don’t want to get hit from the left side.