I realized self-driving on roads is impossible for so-called when someone pointed out what human drivers do when there's like a flock of geese camped out in the middle of the road.
We know that we should slowly move forward until they get out of the way, including bonking then with the car (gently). Do we want cars deciding that some obstruction in the road is "ok" to hit? I don't. So what's the solution? Something other than pure autonomous self driving.
We can probably have some very high level driver assist. Maybe.