You're describing driving from a human perspective. The delta from no cyclists or pedestrians to 100 cyclists or pedestrians is a lot easier for a computer than

You're describing driving from a human perspective. The delta from no cyclists or pedestrians to 100 cyclists or pedestrians is a lot easier for a computer than a human because it can pay attention to all of them simultaneously and plan a trajectory accordingly. Waymo handles this kind of complexity in SF all the time.