Comment by Initial_BP

I imagine they have a way to replay incidents from their cars in a simulation and even if it's not super accurate, they could likely look at camera data and rebuild a similar situation (Sim or real life to identify and test the edge case)

I work at another autonomous car company (as a security engineer not ML related work) and I know we have a Lot of simulated situations that we run the ML against and add more from situations collected from actual driving.