https://youtu.be/0A4i4-xALVg?t=252
Edit;
I guess you did say braking with TACC is complicated -- but I think that's a bit of an edge case that only applies to Tesla. The Subaru version of TACC is ~fine but it never gives you the impression it will handle 100% of the driving for you, so you'd never leave it to navigate around emergency vehicles by itself. Maybe the solution to rarely dangerous self-driving is to make them only ~75% good so driver's are always aware?
Do you have one (or experience driving one)? If so:
- How does it go with phantom braking and various objects on the side of the road?
- Does it distinguish between various on-road things? (eg. does it brake for a dog? a plastic bag? a puff of smoke? an anvil falling off the back of the truck in front?)
- How good's its understanding of lanes (eg. a very slow car that's in another lane but currently directly in front of you due to the road curving)?
- Does it brake for objects outside the lane entering it (cross traffic, lane cut-ins, pedestrians, vegetation moving around in high winds)?
That’s also why most TACC doesn’t work below 30km/h or so. It can’t tell the difference between the car in front and a stationary object next to the road.
Edit: This is actually an interesting rabbit hole to go down, because on the face of it, it seems like a fairly straightforward system to implement. Then the more you think about how a 'simple' system should handle various scenarios, the more you realise that to actually do it properly, 'just keep a good distance from the car in front' requires most of the perception required for general free-form driving.