My amateur interpretation of this is that the vision algorithm briefly confused the yellow of the headlights of the oncoming car as the double yellow line in the road, which caused it to believe it was seriously out of lane. After verring, the algorithm reoriented, and realized an impact was imminent and diverted off the road.

I think what's interesting about this example is that in this case, an alert human driver would not be confused in this way. It shows issues with the particular machine learning approach to automated driving.