There is no such thing as "driving" there is no physical force, or particle. There is no force preventing you from driving in the opposite direction of traffic, or through glass panes.
"Driving" is entirely a social phenomnon, the confluence of societal self impositions and engineering.
If you have a car on fire in front of you, you will need to reverse in the wrong direction of traffic.
In many countries - you have to regularly deal with drivers going full tilt, on the wrong side of the road.
Or You have to deal with theft, and people trying to rob you at every red light.
Im underscoring that this is a social issue. You would need to create models for each country and region, to truly improve self driving.
Self driving assumes a far narrower problem space than reality gives a fig for.
Self driving theory currently works in the same way any theory that assumes spherical cows works.