Right. I could have stated it better, what I meant was that the (safety) driver was not paying (enough) attention to the road and was basically driving Level 3

Right. I could have stated it better, what I meant was that the (safety) driver was not paying (enough) attention to the road and was basically driving Level 3 (the car drives and it will beep whenever I need to take over, so just relax and browse the web). It was impossible to react to the short notice and the warning was _not_ given 10 seconds ago. I personally think the system had sensed her as a succession of standing targets and never predicted any velocity vector. Braking for static radar targets is not happening, because of the clutter you get everywhere you would not drive at all. So the misclassification and misprediction was not detectable for the system (in it's world model, everything looked consistent) and it warned too late.