The Waymo Driver (capitalized because that's its name) watches all, and learns from it. Sometimes the humans in the loop have to override it. I have no insider info, but I make this claim because from my experience riding in them and from talking with other people who have, they started running red lights as a human driver would. And then they stopped doing that.
Waymo published videos showing how their remote monitoring works, and what remote monitors do. Remote interventions help the vehicle plan its next move when they have stopped because they can't figure it out by themselves.
Lots of gasoline cars have alcohol content running through their fuel lines right at the legal limit :)
Just sayin', not to mention the drivers :\
Any software should be so good that these never can be confused though, it may be a tough bar but they do need to be able to fool a seasoned investigator.
Actual drunk drivers get away with it more often than people think.
