Sounds like they were relying solely on their neural network path prediction, which failed when the truck was dragged at an odd angle. A simple lidar moving object segmentation, which doesn't even know what it's looking at but can always spit out reasonable path predictions, would probably have saved them. I think Mobileye is doing something like this, but they release so little data, which is always full of marketin…
It's unlikely to be neutral network based. This sounds like a model prediction failure. You take a mathematical model of car motion: the rear wheels generally don't steer. The front steered wheels can cause the car to drive along an arc. If you want to predict the arc that will be driven, you take the initial starting heading of the vehicle and project forward in time based on your understanding of the vehicles steer…
if prediction != reality
{mismatch+= whatever the time tick is}
if mismatch > second (or two)
{abort driver assist}