> If multiple sensor modalities disagree, even without sensor fusion, you can at least assume something might be awry and drop into a maximum safety operation mode.

Also, this is probably when Waymo calls up a human assistant in a developing-country callcentre.

Saw that happen a week ago, actually. Non-sensor problem, but a Waymo made a slow right turn too wide, approached the left turning lane of cars, then safed itself by stopping, then remote assistance came online and extricated it.