Not necessarily? This depends on how the system is set up.

For example, cars could share the positions of pedestrians and bikes with each other to ensure that even cars with no direct line of sight are aware of them, making the roads safer for everyone.

Likewise, if traffic lights are integrated into the system, the waiting times could be much shorter as cars can dynamically slow down to allow pedestrians to cross, wihtout being contrained by fixed time blocks of green/red.