Learning to drive is about much more than learning a list of rules and then rigidly applying them. A driver will be picking up loads of information: a car at a junction with the driver looking in the wrong direction, a cyclist glancing behind them, a child straining at a parent's hand towards the road.
Self driving cars will learn these same cues in the way human drivers do, seeing a pattern and recognising that pattern next time. Obviously production self driving cars will have this AI built in from millions of miles of test driving, in future cars will almost certainly network together so that a car in Glasgow may behave differently from one in London just as human drivers do, or for that matter foreign drivers noticeably do.
An easy example would be zebra crossings, it's one thing to know the rules but another to read pedestrians so that you stop when needed, and for that matter don't slow to a crawl when everyone is walking past. Or an accident in front of me where someone T-boned someone at a junction, I had hung back and left greater distance because the driver was clearly a confused old dear hence didn't pile into the back of her.
