If the A* calculation for a shortcut (in Step 3) finds it's now impassable, or if its actual detailed cost is significantly different (e.g., 20%) from the pre-calculated shortcut value:
Waymo's testing phase deploys Waymo vehicles with human drivers to cities where the Google-owned company is looking to roll out its ride-hailing service. During this phase, Waymo effectively gleans knowledge from the human drivers to best understand the lay of the land.
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