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I'm curious how this will perform in the real world since humans also cannot see the lane markings but, unlike the system described in the article, do not refer to stored or ad hoc environment mapping and instead operate on an entirely improvised "lanes by consensus".

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Isn't "ad hoc environment mapping" the same thing as "lanes by consensus", more or less?

No. Ad hoc environment mapping seems to imply the driverless cars will map the lanes have stored in their memory to the snowy road. Human drivers more or less invent new lanes by consensus.

Have they tested a driverless car "push it out of a snow-bank" mode yet? :)

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