https://www.youtube.com/watch?v=Bx08yRsR9ow&feature=youtu.be...
That pedestrian is already in the street and they momentarily stutter then pass the pedestrian with very little room.
That and the way the steering seems super sensitive to various snow remainders on the side of the street. It's almost as if it's controlling for its position relative to the snow instead of picking a mostly straight trajectory.