WHY AV developers failed miserably in making autonomous work: they made it into a semantics subject, which causes confusion, at least with authorities that are meant to monitor and assess developments. Hubris is involved ("don't tell me you don't understand the fineprint that I am talking about") and self-delusion, part wishful tinkering reality. "Drivable space" should be what it is, in its essence. The smaller (sleeker) the AV, the more margin to maneuver and agility to evade, the better the AV’s vicinity can be scanned and imaged.