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I assume it's more complex that that, but I can't see how a driverless car can reliable distinguish between being pulled over and an emergency vehicle is trying to get past on a narrow road.

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It might not, but the behaviour would be the same, so the effect is achieved.

No, because on a narrow road, coming to a stop blocks the vehicle behind you.

If your on a narrow road where you can't safely pull over, you don't stop. You continue until you could safely pull over enough.

Stopping would cause more harm than good if they're actually trying to get around you.

Sure, I know that, but does a driverless car? All it can see is blue lights right behind it, which could mean "stop right now or we'll shoot you" or "get a move on to the next passing point you can find" depending on context (probably conveyed by the gesticulating of the driver and maybe a loudspeaker).

Part of being pulled over is not blocking traffic while stopped, so if there’s literally no shoulder/dirt to pull over onto then obviously you continue until there is.

Just like a human driver is legally required to.

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