I came across another example a couple of days ago. A guy was telling a story about he was out walking his two bigger dogs in the evening. Across the street, a tiny dog started barking angrily. The tiny dog got away from its owner started to cross the street, heading into traffic. So the guy with the big dogs stepped a bit into the street, waving to attract the attention of an oncoming driver who he thought might not see the small dog ready to run under the wheels.
I have no idea what a robot car might make of that, but I certainly wouldn't want to be the one who has to write the sort of social processing that determines the guy is trying to signal something, so we should stop until we figure out what the signal means.