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Yeah, you'd hear that scraping. I imagine sound is not used for the vehicle to determine if it should stop or not.
Screaming "STOOOOOOOP" while you're hanging under a truck will make most drivers stop. Not so much for AI, though
A person hitting me will (usually) stop the car and help me. From what I'm seeing here, of these AI trucks hit you, you're just fucked
Trucks are loud, and if they don't hear scraping, they're not going to hear shouting.
To be clear, I'm not trying to defend bad autonomous vehicles here - just pointing out that the dangers exist with any large vehicle. This is something that happens with trucks, so people should be aware.
*Since you don't seem to believe it's possible, here's a news report of an incident from 2017: https://www.youtube.com/watch?v=Q22sQndSjEA