It doesn't seem that much harder. The difference between normal car driving and that seems to be a much lower speed, and a much higher tolerance to get close to pedestrians.

Route finding will be a bit more difficult, but other than that, it could probably be approximated as "if (closest_obstacle_in_front.distance > 30 cm) { drive(SPEED_SNAIL_PACE); } else { honk(); }"

The first 30 seconds are slow but after that crossing the intersection gives me a new appreciation for the human brain :-)

Or this roundabout in the UK

https://www.youtube.com/watch?v=6OGvj7GZSIo

Beautiful. Take that, Mr. Hollywood montage director!