I agree there were perception failures, but that's besides the point. The car made a plan to drive on the wrong side of the road. It shouldn't ever do that, no

I agree there were perception failures, but that's besides the point. The car made a plan to drive on the wrong side of the road. It shouldn't ever do that, no matter what it perceives. It's illegal whether or not there's oncoming traffic. You can't blame sensors for those kinds of logic errors. On the plus side, the computer did say "I'm sorry" after almost killing the driver. So I guess that's something.