Are there more recent papers? I see one from 2016 [1] But, then again my assumptions are a bit dated as well. Was thinking: could a different horizon on a CNN mid-layer trigger a false positive? Perhaps, classify a slight rise as a bumper or some other obstacle?

Maybe a simpler system, like Comma.ai's cameras has looser tolerances. Somewhat akin to the one or two eyes of a Human driver.

Maybe it is policy. I could imagine the brand hit to Tesla for every crash - even due to driver error. Maybe phantom breaking is an artifact of erring on the side of caution. Maybe lawyers got involved. (The horror!)

Anyway, idle speculation, this.

[1] https://arxiv.org/pdf/1608.01230.pdf