In my (in the industry) experience: Agile killed safe development by pushing superficial internal deadlines that look good instead of are good. Safety requirements therefore are never met, but people keep looking like they’re approaching at least one, but end up sacrificing other things that no one is concentrating on, causing more set backs than improvements. Self driving will not be legally commercialized until either someone lobbies bad development onto the roads, or capitalism realizes that quarter profit isn’t as important as ten year profit and Agile finally burns in a god damn fire.