How Google self driving car programmed?? with animation video

Google driverless car, on its development of concept, passed many programmings and simulation in actual situation. Google self driving car consider all possible variables that may appear in the road. They used all sensors and program then simulate all agents appear in road.

Google car programming simulation

This picture is a clip from the animation (?) (Simulation) video of programming how it react with other agents. They tried all possible safety measures here. You can see here in the right bottom is real video including simulation.

This video by google can clarify the idea.