It seems like it would take an endless list to cover every new edge case. Our technology is a amazing, but I almost think the edge case is places where autonomous driving makes sense.
The thing I trust the least is the operators they want to put in these cars. They better be completely autonomous, self-maintaining, and somehow tamper-proof. It's a really tall order, which I hope we do fulfill one day. But maybe I'm a pessimist, and they have it all figured out already.
Re all the edge cases - yeah that'll take a while.
You can certainly have all the cameras that you need but if the bad guys have their faces covered and identifying marks hidden then you're not going to be able to do much.
I'm pretty sure there is an early scene in the movie Solar Crisis[1] that plays out similarly to what you're describing. This movie was on one of the cable movie channels when I was growing up, so I got a higher-than-normal dose of it.
I don't remember a cow, though (but then this probably isn't the only sci-fi movie out there with such a scene). I think one of the characters first parked a motorcycle in the road, but the truck plowed through it. After that, they stood in the road instead, and that caused the truck to screech to a stop right in front of them, blasting a message on a PA about how they were breaking the law by impeding it.
Ther is always a way.
In reality, it seems like it would resolve quickly - you get out and yell at them, call the police if that doesn't work, etc. But it can get more sinister - criminals _already_ block the road to force drivers out of their car to rob them[1][2]. Now, if you know that might happen, you can just drive around the obstacle. Unless, of course, you're in a self-driving car where you might not even be able to get it to do a u-turn. Related issues would be areas where the practical advice is "don't stop" - not even at red lights - if you're there late at night due to the risk of car jacking[3][4] (this might be out-of-date now, to be fair). Can rules like that be encoded into a self-driving car?
OK, yes, you probably could find a way to do it. But that's almost certainly just the tip of the iceberg in terms of "ways people will fuck with self-driving cars" and "things people do that are technically illegal but still safer than the alternative." Could you solve enough of those in 5-10 years, _on top of_ making self-driving cars work in sun/rain/snow/fog/night/tornados/etc safely and consistently? I think that's very unlikely. Decades seems far more likely to me.
[1] https://abc7chicago.com/593111/
[2] (Non-EU only) https://wgntv.com/2015/03/31/robbers-set-up-fake-road-blocks...
[3] https://eu.detroitnews.com/story/news/local/detroit-city/201...
[4] https://www.reddit.com/r/AskLEO/comments/2rzsdz/are_there_an...