One funny story. Our vision system relied (heavily, not exclusively) on sensing prominent horizontal features symmetric about a common centerline. (Cars and trucks, especially at the time, have a lot of horizontal lines: bumpers, window top/bottom, valence, etc.)

During a test on the Munich airfield, we had had rain overnight, but that had stopped a few hours ago and the demos were going well. As my boss^3 (unsure if it was Herr Dickmanns or not) was on-board watching the demo, standing between my position mid-ship and the two front seats, and as we completed a turn from a taxiway onto a disused runway, I watched in horror as the vision system "locked on" to some prominent horizontal features provided by the uneven drying on the pavement. Almost immediately, this lock turned into a "valid" signal post-filtering and induced a panic stop of the bus. The boss^3 fell forward and it had to be very uncomfortable though didn't seem injurious.

After we came to a stop, the vehicle refused to move as our (my?) vision system was convinced there was a car immediately ahead. It was like a $2MM recalcitrant horse...

That day was not my best demo ever. ;)