I'd think that the choice the car makes will simply be a reflection of that of the programmer's.
True, the parameters the programmers create. And the ability of the car's sensors. Which may or may not be impaired by real-world conditions.
While driving down to Key West on Nov 13 we ran into a very heavy rain storm in the middle Keys. Actually more a sea squall, since the Keys are really a string of small islands out in the ocean, between the Atlantic and the Gulf of Mexico.
That stretch of US Highway 1 was only undivided double lane, 1 lane each direction. With much standing water from the torrential downpour, already greatly reducing visibility. It's not unusual in Florida that the rain gets so bad that you have to pull over and wait.
And as trucks passed us in the other direction their tires launched gallons of water on our car all at once, and we lost all visibility for a moment. Like being in a drive-through car wash. Experience told me how to drive straight ahead until I had visibility, but I was close to just pulling over.
What would a self-driving car do, when its camera(s) and sensors are blinded? Would it alert, disengage and revert to manual driver control? What if the driver had dozed off? People are not always too bright. What if a driver in a passenger minivan had walked to the back to get some snacks from his cooler?
Of course a seat sensor, like the front passenger has for seat belt use, could be employed to discourage that behavior in some manner. But the creativity of people to find new ways to be stupid can never be underestimated. I'm not convinced self-driving cars are smart enough yet to compensate for human dumbness, not to mention merely navigating the roads.