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You can drive in a torrential downpour. Short of actual flooding or the creation of large puddles, rain isn't all that bad of a driving condition. Be sure not to drive past the limits of visibility and increase follow distances from 2-3 to 5 seconds and you're good. Even motorcycle races are held in the rain: https://www.youtube.com/watch?v=tv4_425K8r4

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I have been in a lot of monsoon level downpours where it is effectively impossible to drive as visibility goes to 0. There are different types of rain.

At some point "no one[0] should be driving" becomes a valid answer.

[0] I mean, there are going to be cases, but the number of people currently driving in horrific weather conditions because it would be inconvenient not to is too damn high.

It seems a lot of posters aren't willing to consider self-driving cars feasible until the cars are as foolhardy as the bottom-decile driver while still maintaining a perfect safety record. But most of accident prevention is in the planning more than the execution. It seems only reasonable to expect SDCs to avoid situations that some human drivers would brave if the risk is too high.

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