I still don't believe that analysis that Av city driving is easier than highway. AFAIK the only company that guarantees "self driving" on unknown roads is Mercedes and that is for highways only. I think waymo/cruise are somewhat of a red herring because they only drive on known roads, which I don't really consider AV (otherwise we could call self driving trains AV as well).
That said the conclusion from the article is really that self driving is hard and we likely will not see it for many years.
That said the conclusion from the article is really that self driving is hard and we likely will not see it for many years.