Not only does it not seem to have a horn, but it can't back up... I think those might be features the engineers should explore.
Driverless software must recognize situations like this and adapt in order to win the future. We will not go from manually operated cars to 100% driverless cars overnight. They will have to prove their worth and/or superiority alongside human drivers for a long time.
It's not the responsibility of vehicles behind that car in the intersection to fix things, human or otherwise.
You could also argue that a self driving car wouldn't be going as fast behind a car chasing a yellow light and could allow more room to handle this situation before it gets to that point.