There is also a cruise automation video showing a drive through SF where this same type of situation comes up. I believe both systems rely on HD maps and the ro

There is also a cruise automation video showing a drive through SF where this same type of situation comes up. I believe both systems rely on HD maps and the route is planned based on the vehicles position relative to the very precise maps. If a large enough obstacle is in the way of the planned route it will disengage to the safety driver to plan a new route around the obstacle.