I recently read about this in an article [1] about Tesla's ambition to build a level 3 auto-pilot.

The article points out several issues about this project that I didn't think about before reading it. Basically, there's more issues than just "finding the right math", and on different levels, not only the technical one. I'd recommend reading it.

[1] https://dev.to/bosepchuk/is-it-ethical-to-work-on-the-tesla-...