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Tech Review is running a story https://www.technologyreview.com/s/609938/and-the-award-for-most-nauseating-self-driving-car-goes-to/ [technologyreview.com] from CES Las Vegas. The author rode in several different self driving cars and the new autonomous 'Vegas shuttle bus, informally rated at the bottom:

...Caution is great, but its jerky stop-and-start movements made me want to hurl.

to somewhat better,

The car, an autonomous BMW 540i that is part of a partnership between Lyft and autonomous-vehicle tech company Aptiv, felt reasonably aggressive as it changed lanes and moved through traffic, speeding up as it went into turns. Yet it was also smart, decelerating appropriately (and not with a lurch) to let pedestrians go through a crosswalk.

So far, this is all low speed driving, it will be interesting to see how the developers deal with this problem as speeds increase.
 

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